Abstract: A mini intelligent robot in home environments is designed and implemented. The robot is able to build
a grid map of an unknown home environment efficiently and autonomously, plan an optimal path between two
points and get back an object by same path. This robot senses a home environment only by Infrared sensors. It
plans an optimal path by breadth-first search. A wheeled robot with arms is designed and built based on “Inno
Star冶 from Bochang. The proposed algorithms are implemented on this robot. Experiment results show the
proposed algorithms can be run on low-level robots. This robot can be used in home environments and assist the
elders to get back an object. Therefore, this work has positive effect on boosting the development of robot for
elderly people assistance.

Key words:  intelligent robot, path planning, infrared sensors, home environments, map building