An integrated hardware and software design of a mobile robot

Abstract

Presents a prototype of a mobile robot that is mainly characterized by it's real time operation based in the environment of Matlab/Simulink. The whole necessary task for an autonomous navigation and mobile robot control is done in a hierarchical and easy reprogramming way. The paper describes simulation results based on the robot's kinematic model and practical results of real time navigation related to control, localization, path planning in a known environment.