IMPLEMENTATION OF WALL FOLLOWING METHOD BASED ON KINECT FOR ROBOT MOBILE

The paper presents implementation of wall following method based on kinect sensor for robot mobile navigation. The objective of this research is how the robot can perform autonomous navigation from start point to the desired one. The method implemented in mobile robot for taking the dangerous object. Wall-following method is a method in mobile robot mobile navigation by moving based on the distance from the wall next to the robot. The key issue here is how to develop good hardware setup in order to create accurate mobile robot navigation. The system utilizes kinect camera as the main sensor, rotary encoders, and compas. We use the depth aquired from the kinect sensor for estimating the distance to the wall and use it to navigate the mobile robot. We conducted experiments by the robot explore the room. In automatic mode, robot continues to explore the room by taking reference wall to the left until the user stops the movement of the robot using remote control. The experimental data shows that the system has an average error of 7, 33% against the robot's ability to enter the sections of the room. The gap width of the room becomes a factor in the failure of a robot entered the room.