Published date: Dec 27 2018

Journal Title: KnE Engineering

Issue title: Ibero-American Symposium on Computer Programming jointly held with the International Congress on Technology Education

Pages: 191–203

DOI: 10.18502/keg.v3i9.3655

J Luis Tinajero - joseluis.tinajero@espoch.edu.ec

P Lozada

A Alvarez

N Salazar

In this work, the algorithms necessary to execute displacements that allow indoor navigation for a differential mobile platform were designed, it was considered the programming of an Arduino Nano card connected to ultrasonic sensors that detect the distances of possible objects in the environment, and a Raspberry Pi3 card that is responsible for the activation and control of the platform’s engines. A high level of efficiency of the System was achieved by evading obstacles and protecting the robot structure as much as possible

Keywords: algorithms, interior navigation, differential mobile platform, Arduino, Raspberry Pi3

[1] Tinajero, J. L. “ DISEÑO DE UN SISTEMA DE CONTROL VISUAL PARA NAVEGACIÓN DE INTERIORES USANDO FUSIÓN SENSORIALPARA UNA PLATAFORMA MÓVIL DIFERENCIAL. (2018).


[2] Song, Z., Schwartz, E. & Mohseni, K. Bioinspired Visual Guidance in Turbid Underwater Environment *. 2–4 (2017).


[3] Kolling, A. & Carpin, S. Multi-Robot Pursuit-Evasion without Maps. 3045–3051 (2010).


[4] Aldahak, A. & Elnagar, A. A Practical Pursuit-Evasion Algorithm: Detection and Tracking. 10–14 (2007).


[5] Chen, Y., Qi, H. & Liu, X. I. A. MAS-BASED PURSUIT-EVASION ALGORITHM UNDER UNKNOWN ENVIRONMENT. 18–21 (2005).


[6] Siciliano, B., Sciavicco, L., Villani, L. & Oriolo, G. Robotics Modelling, Planning and Control. (2009). doi:10.1007/978-1-84628-642-1


[7] Ollero, A. Robotica Manipuladores y robots moviles. Marcombo S.A (2001).


[8] Holland, J. M. Designing Autonomous Mobile Robots. (2004).


[9] Illah, R. Autonomous Mobile Robots.


[10] Pi, R. Face Detection using MATLAB.


[11] Texas Instruments Incorporated. L293x Quadruple Half-H Drivers. Texas Instruments Inc. 21 (2016).


[12] Ramos Melgar, E. & Castro Diez, C. Arduino and Kinect Projects.


[13] Jiang, N. Intelligent Stereo Camera Mobile Platform for Indoor Service Robot Research. Proc. 2016 IEEE 20th Int. Conf. Comput. Support. Coop. Work Desing 5– 9 (2016).


[14] Moore, H. Matlab para ingenieros. (2007).