Development of an Indoor Mobile Robot for AGV

This paper presents the development of a mobile robot for the autonomous AGV (Automated guided Vehicle) which has no external guiding systems and navigates by vision. We chosen indoor environments for autonomous AGV and the environment was modified according to their structural complexity and artificial landmarks were used to modify the environments. Lower level functions which are generally important for the mobile robot should be realized at the first stage of the robot development. Those functions are detecting navigable areas coping with the disturbances mainly caused by illuminating conditions and generating trajectories avoiding stationary obstacles. In conclusion these functions enable our robot to be used as an autonomous AGV under modified conditions.