Abstract: In this work a four wheeled mobile robot that tracks a path programmed in PIC microcontroller is introduced. The robot uses an optical navigation approach which defines its location on a map. The method is applied using CMOS optical sensor which is taken from a computer mouse. The aim of this project is to drive the four wheels mobile robot on multi-path which is constructed as a map in PIC microcontroller, by using optical navigation method. There are many different types of path tracking algorithms available today. We have chosen to implement and evaluate one of them and that is called Pure Pursuit method. This method will be discussed in detail in a separate chapter after illustrating other related three methods.

Keywords: Path tracking, Pure pursuit algorithm, Optical sensor, Robot map, Wheeled robot.

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