Performance of worm algorithms in the navigation of a mobile robotic platform
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Abstract
This work presents the implementation of navigation algorithms called worm one and worm two on the iRobot Create mobile robotic platform, which provided the capacity for autonomy to navigate within unknown environments. In addition, radio frequency modules, which operate under the ZigBee standard, were used to provide wireless communication between the robot and a PC. Communication tests were performed to determine the maximum working distance the RF modules can operate indoors. At the same time, for the performance analysis of the primary navigation algorithms mounted on the mobile robotic platform, three scenarios were defined where the robot's certainty of having reached the goal was verified.
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