# Autonomous robot runs on the "eight"

Good afternoon, colleagues,

Continuing the previously published article about a high-precision navigation system (+ -2cm) indoors, we would like to show how a simple robot based on it can ride any complicated route completely autonomously.

In the video below, we hung a mobile beacon on a simple robot and sent him to walk along the route in the form of a figure of eight, which he can do for hours:

Or you can send it to run around the rectangle:

What can be done with such a system and how:
- Hang the beacons of the navigation system on the walls / ceilings - create a coating. Four lighthouses are enough to close the room up to 30x30m - the main thing is that there is direct visibility from the robot to 3 lighthouses most of the time. If there are small or temporary shadows - people, columns - it does not matter. The robot will use its inertial and odometric navigation system until it reaches an open surface and adjusts its position in the navigation system.
Next, you simply transfer the robot to the points where it should pass in the future, immediately see the position of the robot on the map of the navigation system , click on these points with the mouse, and they will be remembered on the map as points of the future route of the robot. Thus, the path for the robot is obtained
- All. Send the robot on the road and it starts to roll along the route, clearly tracking and adjusting its position in the coordinates of the navigation system.

Why all this:
- This demo is not a real robot. Real robots are very different: from simple robots delivering small loads of 0.1-2 kg at assembly plants, in hotels, and warehouses, and ending with large automatic loaders in airdrome hangars and large warehouses. But the principle of building and using a navigation system is simple and identical for all these robots: (1) the robot receives its coordinates from the navigation system and (2) adjusts its position in space according to this data
- We used a wheeled robot for the demo because of simplicity. But with minor changes, you can use a copter instead of a wheeled robot and send it flying along a route of any complexity along a given path (in 3D!) Or leave it hanging at one point (+ -2cm) without any significant drift in time