Publication

Abstract : Mobile robots are extensively used in service-based environments like warehouses, hotels, hospitals, restaurants etc. Path planning to reach destination from a source is a crucial task for any mobile robot. An idle path planning algorithm given a source and destination, should plan a shortest path with less computation time autonomously. In this work Quick Response (QR) code is used as via point/landmark in the environment. QR code is a 2D barcode which stores more data than a traditional barcode system. Path matrix which contains navigation in- formation to reach nearby via points or destinations is stored in QR code. These QR codes are placed on the floor strategically, such that given a destination, a mobile robot can navigate in a shortest route possible without any overall environment information. The proposed system is implemented and tested using an in-house built omni directional mobile robot powered by BeagleBone Black. The obtained results proves that the mobile robot is able to reach its destination point accurately.