DESIGN AND ANALYSIS OF A CORDIC BASED AUTONOMOUS ROBOT FOR OBSTACLE AVOIDANCE IN A STATIC INDOOR ENVIRONMENT

We consider the issue of finding a suitable path for a mobile robot from one point to another that avoids collisions with static objects in the environment. The motion, planning and control is achieved without floating point parameters and we present an algorithm for this problem. We also present an area-efficient architecture. We are using Arduino for motion, planning and control to providing efficient hardware in low cost. One key feature of the architecture is Coordinate Rotation Digital Computer (CORDIC) to facilitate rotation of the robot. We have presented certain experiments based on the proposed algorithm.