Commercial-off-the-shelf (COTS) solution for Robot Sensing and Control

In this work we investigate the possibility of using an Android smartphone as the standalone sensor pack cum processor for a mobile robot. In addition to sensors and processing ability the smartphone has various communication infrastructure and a modern operating system. We also discuss the architecture of minimal hardware ground mobile robot using android smartphone and the approaches to robot software development using android smartphone as primary controller. A discussion of existing libraries and tools that can be leveraged to enable quick development is discussed. A trajectory tracking experiment is presented to demonstrate the working of the presented architecture.