Design Navigation Stack
30 minutesSelect sensors for localization, mapping, and path planning layers of the navigation stack.
Advanced4-8 weeks
Mobile Robot Navigation Guide
Complete guide for mobile robot navigation — step-by-step workflow, tools, checklist, and expert tips to get started.
robotics engineersautonomous systems
Workflow
Calculate Sensor Rates
45 minutesSize wheel odometry resolution, lidar update rate, and ultrasonic range for environment.
Build and Integrate Sensors
2-4 hoursMount encoders, IMU, and lidar; wire to compute platform and configure ROS navigation nodes.
Test and Debug
1 hourDrive mapping run, verify localization accuracy, test path planning to goal points.
Tools Used
- Wheel Circumference & DistancePrimary
Calibrate wheel odometry for accurate dead reckoning.
- Ultrasonic Sensor RangePrimary
Set proximity sensor thresholds for obstacle detection range.
- LiDAR Point Cloud DensitySupporting
Verify lidar scan density meets SLAM algorithm requirements.
- Robot Speed CalculatorReference
Confirm max navigation speed stays within sensor update rate limits.
Checklist
0 / 8 completedLoading your checklist…
Planning
Configuration
Hardware
Execution
Quality
Safety
Reference Materials
Navigation StackTable
Key benchmarks for mobile robot navigation.
| Layer | Sensor | Output |
|---|---|---|
| Localization | Wheel enc + IMU | Pose |
| Mapping | Lidar | Occupancy grid |
| Planning | Map + goal | Path |
Odometry ErrorFormula
Wheel slip accumulates 5-10% error — fuse with IMU/lidar
Update RateStandard
Lidar 10 Hz minimum for indoor navigation at walking speed.
Teleop First
Map the environment manually before enabling autonomous navigation — bad maps cause collisions.
Fuse Sensors
Wheel odometry alone drifts 5-10% — always fuse with IMU and lidar for reliable localization.
Sim Before Real
Test navigation algorithms in Gazebo or Webots before running on hardware — saves repair costs.
Safety Notes
- Autonomous robots can move unexpectedly — install a wireless emergency stop and test it before every run.
- Set speed limits so the robot can stop within sensor detection range of obstacles.