An Enhanced Experimental Study of GPS Based Path Tracking Non-holonomic Robot with SAWOA Algorithm

Abstract

In this research work a path following, obstacle avoiding quad wheel robot has been implemented using one 32-bit ARM processor (LPC2148 Board), one Global Positioning System (GPS) sensor module (L80) and one Ultrasonic (HC SR04) sensor module. A unique path-navigation algorithm named Smart Algorithm with Obstacle Avoidance (SAWOA) has been introduced offering higher speed and optimum path coverage compared to the existing algorithms. Several comparative studies have been performed to showcase and prove the genuineness and efficacy of the algorithm. Effective implementation of the algorithm has been realized using MATLAB and C programming language. Different results obtained in simulation prove stability and efficiency of the robot. Additionally, a real time experimental setup has been realized in laboratory environment to provide credible results regarding trajectory of the robot as per SAWOA.