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A Navigation System and Task Planning in a Mobile Robot for Inspection

An autonomous inspection robot can be designed to operate in a wide range of industrial, military, police, scientific, domestic and educational applications. The robot described in this project work, is a low-cost vehicle that is intended for research purposes, but with a few changes in some of its components it can be used for real-life tasks. The general idea in the creation of this robot is to use the advantages of the modular design. Different ready standard modules are combined in order to construct the whole system. The designer has to select the most appropriate components and to make the connections among them. He has to organize their communication in order to achieve their proper work and also the proper work of the robot system as a whole. Each component affects greatly the performance of the system and that is why the selection of the sub-units is very important, but it also should be done according to the imposed set of constraints, such as price (Fig. 1). The designer must also ensure the good communication between the operator and the robot.