Homing of a Robot

Abstract

Homing of a robot is characterized as its travelling through a path to perform an assigned task and returning to its home position or underlying position. The paper centers on the idea of programming a wheeled mobile robot for automating homing by path planning, obstacle avoidance and control. The proposed homing scheme is designed by modifying existing search algorithms. A comprehensive comparison of 4 different algorithms is also executed and presented in the paper. Of which best suited algorithm is modified and applied to a Quanser Qbot 2e experimental platform. The QBot leverages Quanser Rapid Control Prototyping software which can seamlessly integrate with MATLAB/ Simulink software to provide real time communication. The experiment has demonstrated that the suggested algorithm achieves homing accurately, with automation.