Mobile Robot Navigation in Indoor Environnements by using the Odometer and Ultrasonic data

International audienceIn this work we examine the strategy and the control architecture to allow an autonomous mobile robot to navigate in indoor environment. One fundamental property a really useful autonomous mobile robot equipped with is the capability to effectively avoid collisions in realtime. The robot's control s system includes several processes which run in parallel by using a specialized hardware. The navigation subsystem of the mobile robot integrates the position estimation obtained by ultrasonic system with the position the estimated by odometry, using the extended Kalman filter. Obstacle detection is performed by means of set of ultrasonic sensors. The results presented whether experimented or simulation, show that our method is well adapted to this type of problem