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Outdoor navigation of a mobile robot using GPS and GPRS communication system

In this paper both hardware and software systems for GPRS communication and GPS navigation are developed. The hardware structure of GPS navigation module was build using Cinterion XT65 platform and appropriate electronic components. The overall navigation system is client-server based that uses GPS and GPRS communications. The GPS communication is used between client (mobile robot) and satellites, while GPRS communication connects server (PC) and client. The algorithm for mobile robot position estimation exploits a triangulation technique. Multiple algorithms (including a fuzzy regulator) for avoiding obstacles are implemented in order to provide safe and precise movement towards the destination point given to robot. The effectiveness and quality of proposed hardware and software structures are verified by experiments.