Design of a Sensing Limited Autonomous Robotic System

Abstract

This paper describes the development and implementation of a behavioral-based solution for a sensing-limited robotic system in area coverage problem using the LEGO Mindstorms NXT robotics kit. The main aim is to investigate how area coverage algorithms can be implemented on a robot with limited sensing and processing capabilities to cover a given area efficiently without localization or map building as well as to compare these algorithms with each other. Interestingly, there has been limited research done in this aspect, particularly in the efficiencies of current heuristic based algorithms in commercially available robots. In this project, three behaviors: Random Walk, Spiral, and Weave are proposed. A robot was constructed to mimic a sensing limited robot and it was used to carry out the proposed behaviors to determine the most efficient behavior. During experiment, it was found that aspects such as the parameter being measured and placement of obstacles in the environment affected the perception and performance by the robot. Results showed that the zigzag motion of Weave was the most efficient movement of the three, performing consistently well under varied environments and measurements.