Self-Navigation Robot Using 360° Sensor Array

Abstract

The goal of this project was to develop a robot that can navigate through an environment with many obstacles using a sensor array that provides a 360-degree view of its surroundings. The sensor array consists of infrared and ultrasonic distance sensors. Four sensor arrays are swept in an angular pattern to provide a complete view of the robots surroundings. The data from the two sensors must be combined using a mathematical calibration algorithm to take advantage of each sensor’s specific characteristics. The unique aspects of this project are the navigation program and the sensor calibration algorithm.