Motion planning for mobile robots using a laser range finder

We have designed a mobile robot with a distribution structure for intelligent life space. The mobile robot was constructed using an aluminum frame. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 40 cm, 80 cm, and 40 kg, respectively. There are six systems in the mobile robot, including structure, an obstacle avoidance and driving system, a software development system, a detection module system, a remote supervision system, and others. In the obstacle avoidance and driving system, we use an NI motion control card to drive two DC servomotors in the mobile robot, and detect obstacles using a laser range finder and a laser positioning system. Finally, we control the mobile robot using an NI motion control card and a MAXON driver according to the programmed trajectory. The mobile robot can avoid obstacles using the laser range finder, and follow the programmed trajectory. We developed the user interface with four functions for the mobile robot. In the security system, we designed module-based security devices to detect dangerous events and transmit the detection results to the mobile robot using a wireless RF interface. The mobile robot can move to the event position using the laser positioning system.