  Enhancing robot navigation efficiency is a crucial objective in modern
robotics. Robots relying on external navigation systems are often susceptible
to electromagnetic interference (EMI) and encounter environmental disturbances,
resulting in orientation errors within their surroundings. Therefore, the study
employed an internal navigation system to enhance robot navigation efficacy
under interference conditions, based on the analysis of the internal parameters
and the external signals. This article presents details of the robot's
autonomous operation, which allows for setting the robot's trajectory using an
embedded map. The robot's navigation process involves counting the number of
wheel revolutions as well as adjusting wheel orientation after each straight
path section. In this article, an autonomous robot navigation system has been
presented that leverages an embedded control navigation map utilising cellular
automata with active cells which can effectively navigate in an environment
containing various types of obstacles. By analysing the neighbouring cells of
the active cell, the cellular environment determines which cell should become
active during the robot's next movement step. This approach ensures the robot's
independence from external control inputs. Furthermore, the accuracy and speed
of the robot's movement have been further enhanced using a hexagonal mosaic for
navigation surface mapping. This concept of utilising on cellular automata with
active cells has been extended to the navigation of a group of robots on a
shared navigation surface, taking into account the intersections of the robots'
trajectories over time. To achieve this, a distance control module has been
used that records the travelled trajectories in terms of wheel turns and
revolutions.
