Development of Mapping autonomous robot for static environments with HMI on Android

In this paper is shown the development of an autonomous robot, which is controlled by an Arduino board and is mounted on a Rover 5 chassis equipped with encoders to track its movement. The robot is able to map static environments based on readings made by ultrasonic sensors that recognize obstacles. The information is exchanged over Bluetooth with an Android device equipped with an application developed by the authors to show the data collected by the robot. The application creates a 2D map of the environment, locates the robot within that map, including its orientation, and it may also be used to control the robot, when set to manual mode. The 2D map may also be exported to a file and observed on a computer.