Go-2 :- an Autonomous Mobile Robot for a Science Museum

Whilst many fragmented capabilities in the areas of mobile robot localisation, environmental modelling, path planning and motion control have been reported in the literature, as have also some complete systems which perform adequately in short-term laboratory demonstrations [1], this paper describes the rationale behind and implementation details of a complete and robust autonomous mobile robot navigation system which will operate for long periods with minimal human intervention under the gaze of a critical public audience at a science museum (ScienceWorks in Spotswood, Melbourne).