Path Planning of Mobile Robots Using Laser Range Finder

The article develops path planning of mobile robots that contain a landmine detection robot (LDR) and a carrier robot (CR). The LDR is the leader mobile robot, and contains a PC-based controller, a laser range finder, a Global Positioning System (GPS), two motor drivers and a landmine detector. The LDR moves in free-space, and uses landmine detector and GPS module to search landmines and obstacles in the dangerous region, and records the coordinate location, and transmits the landmine’s and obstacle’s coordinate to the CR via wireless RF interface, and programs the motion path to avoid the detected landmines and obstacles. The CR uses PC as the controller, and uses the microprocessor dsPIC 30F4011 to drive two DC servomotors. The two mobile robots use laser range finder to detect obstacles, and avoids the obstacles. In the experimental results, the LDR records the positions of the detected landmines using the GPS module and the compass module to display on the control interface. The CR receives and records the positions of the detected landmines from the LDR, and uses the GPS module and the compass module to locate the position, and avoids the detected landmines and obstacles moving in the same dangerous region. The controller of the CR uses A* searching algorithm to program the motion path from the start location to the target location, and enhances the safety motion path to carry peoples or materials cross over the landmine area or dangerous area very quickly.