Autonomous navigation system with small four-wheel drive platform

Zhytomyr Polytechnic State University, Department of Automation and Computer-Integrated Technologies, Zhytomyr, Ukraine

^* Corresponding author: martin.bogdanovskiy@gmail.com

Abstract

The task of achieving greater flexibility and maneuverability of small transport and service units’ motion in modern factories by developing small autonomous navigation systems plays crucial role in complex automation of transport logistics nowadays. To solve navigation task, it was proposed the following approach, where as a means of assessing the environment was used computer vision system based on 5-megapixel CMOS image sensor and for the front obstacle detection was used auxiliary ultrasonic sensor as a limit switch. Authors solved the problem of yawing using artificial marking approach as along two-colored leading lines. For maneuverability increase during the turn was used speed movement control based on lines perspective. The basic design and technical characteristics of the four-wheel drive platform and the algorithm of the Raspberry PI 3/Arduino Nano hybrid control system are presented. Experimental results proved the viability of the proposed approach.