A model application for indoor navigation systems and their usage

Today, in almost every settlement, there are shopping centers and especially markets with a size of hundreds of square meters. Especially in big shopping malls, customers have difficulty in finding the product they are looking for. In these large areas, it has a great importance in terms of time that customers or visitors go directly to the locations they want without wasting any time. For this purpose, the guiding boards suspended from the ceiling or pasted on the aisles cannot be read from a far and are not visible from every angle. On the other hand, customers' quick shopping will also reduce the density in the shopping center. In this thesis, a mobile robot design has been carried out in order to avoid some of the above-mentioned problems and its applicability has been examined. Arduino MEGA microcontroller board is used to reduce the cost of the system. The data obtained with the help of encoder, compass and ultrasonic distance sensors on the systems have been used for navigation purposes. Kalman filter and simple moving average (SMA) methods are used to filter the values produced by the sensors. For navigation, the route to be taken is determined by first using the motion planning and then the shortest path finding algorithm. The shortest path is found with the help of Dijkstra's algorithm. The user can choose which department he wants to go by pressing the buttons on the robot. It has been observed that the method chosen in the experiments directs the robot to the desired aisle in the shortest way. It is thought that this study will set an example for mobile robots that can be economically used in the markets in the future and will shed light on the studies to be carried out for indoor location determination.