A Navigation and Path Planning System for the Nomad Xr4000 Mobile Robot with Remote Web Monitoring

The development of teleoperated autonomous robots occurred due the existence of environments unsuitable for human action. These robots usually need a representation of the environment (a map) and the capacity to interpret that representation to be able to plan a path towards some target location and to move safely in an environment where there may be variations in the position of the objects. This work describes a navigation system with remote monitoring through the Internet for the Nomad XR4000 mobile robot. The system builds bidimensional maps of the environment that surrounds the robot, through a combination of sonar and infra-red sensors, and also the estimated position of the robot. The navigation is carried out through stored environment maps. The user, through a graphical interface in a Web browser, can define a target to be reached by the robot. A path planner based on artificial intelligence defines a trajectory and controls the robot motion without collisions.