Navigation planning for autonomous mobile robots based on laser range finder

Mobile robots are inseparable parts of the robotic science due to their technologies developing day by day and ever-increasing area of utilisation. In parallel with their increasing area of usage, the mobile robots become smarter, and their autonomous moving capabilities are developed swiftly. One of the basic conditions for a mobile robot to be autonomous is the proper fulfilment of navigating by itself independent of the user in the current medium. One of the most important requirements for the preparation and implementation of the navigation plan by a mobile robot is the accurate perception of the physical medium and medium parameters, and real-like modelling of the medium depending on these parameters. In this thesis, the production of a map of the current environment by the robot and positioning itself on this map were performed with the aid of a laser distance measurement sensor which can be located on the mobile robots. In addition, the realization of the arrival of the robot to a point defined by the user on the produced map was provided by following the optimal path making its own navigation plan and independently of the user. In this study, several algorithms were developed, an electromechanical hardware to run these algorithms was built, and this hardware was tested in real time in a real medium. So, an autonomous mobile robot platform was developed with a relatively cost-effective budget.