Abstract

This project aims to design and implement a differential-drive mobile robot model operating in a weighted graph map. The robot can autonomously find the shortest path between two points based on the A* algorithm and then follows the generated path by moving along the specific trajectory. During the movement, the robot can make decisions to avoid the obstacle or find an alternative path if the obstacle is detected. The potential field method is applied for obstacle avoidance based on the distance and angle of the object. The environment information collected by sensors is sent to the PC via wireless communication and displayed on the graphic user interface in real time. The results show that the system operates effectively in simulation and experience.