A Robot Navigation Method Using Restricted Minimum Spanning Tree

Abstract

An efficient robot navigation is considered as an important issue in many sectors, such as warehousing, logistics, and inventory systems. The primary objective of the robot navigation system is to make the robot reach destination with accuracy and consuming less resources. In this paper, the Radio Frequency Identification technology is used to navigate the robot to the specific destination place. In the methodology, the RFID communication network is modelled as a graph and the Minimum Spanning Tree is computed from the graph. In addition, the paper proposed a Restricted Minimum Spanning Tree, which is compatible with communication range of RFID tags. The robot navigation through the Restricted Minimum Spanning Tree provides the robot with many benefits such as saving the robot battery life time, increase fastness in reaching the destination, and the accuracy in reaching the destination. The Simulation has been carried out on the proposed method to analyze the various system parameters.