A Comparison Study on Suitable Methods for Developing an Arduino based Autonomous Mobile Robots
Keywords:
Robot, Algorithm, C for ArduinoAbstract
This research aims to study the appropriateness methods for developing an autonomous mobile robot, design and develop an autonomous mobile robot based on Arduino platform, and last but not least, to compare and search for suitable robot movement algorithms. The research methodology is composed of two parts. First, the design and development of an autonomous mobile robot using the Arduino platform. The components of the proposed robot are ESP32 used for processing tasks, a HC-SR04 ultrasonic sensor module used for measuring the distance between the robot and obstacles, IR Infrared used for path detection while the robot is moving, and L298N drive module for controlling the movement of the proposed robot. The algorithm of path finding for the proposed robot are developed in C for Arduino. The second part is the development of path search algorithm for the autonomous mobile robot using the four popular path search algorithms which are Breadth First Search, Depth First Search, Best First Search, and A* Search. The experiments on the movement of the autonomous mobile robot shows that the A* Search algorithm has the shortest duration of 39.12 second while the Depth First Search has the longest duration of 48.64 second. Each algorithm moves the autonomous mobile robot for 10 blocks.
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