An Embedded-System-Based Autonomous Mobile Robot with Obstacle Avoidance

Parrish, Matt, Qing Wang, Samer Fallouh, and Chaomin Luo

Embedded systems applications often contain many different aspects of engineering such as robotics applications.  In this project, an embedded-system-based autonomous mobile robot is implemented with the obstacle avoidance.  This intelligent mobile robot is built up from scratch. The hardware design is composed of motor control with encoders, wheel and chassis installation, a sensor interface, and sensor configuration. An H-Bridge with pulse width modulation (PWM) technique is utilized to control the speed of the motors. The software development is focused on wall-following, obstacle avoidance, navigation, motor control, and sensor fusion.  These applications of the embedded system usually include the reading of sensor data which can be used to interpret real world conditions. Processing this data will require an embedded microprocessor able to drive other circuits to respond or communicate this data to the real world.   The system can use this data to respond to the environment through the use of various actuators.  The motor control, obstacle avoidance, wall-following and navigation algorithms are developed to propel and steer the autonomous mobile robot.