Autonomous Navigation of Holonomic Mobile Robot Using Point-to-Line Algorithm

Abstract

This paper consists of a novel approach for autonomous navigation of a four-wheel Omni-directional robot using inexpensive sensors for localization and low computation method for planning a trajectory. The autonomous navigation system is such that the robot can navigate with any orientation. An analytical approach is introduced for tracing a sinusoidal path which can be extended to trace any path whose equation is known.