Mobile robot navigation based on tangent circle algorithm

摘要

A difficult issue in mobile robot navigation or path planning in static or dynamic environment is to find the path from the starting point to the target avoiding collisions with obstacles. This paper presents a new approach for solving the problem of mobile robot navigation in dynamic environment based on tangent circle algorithm. To plan the trajectory of the robot, the algorithm relies on the creation of different types of paths between the robot and the target. In fact, during the motion path, the robot switches between a straight line and/or circular trajectory in order to avoid obstacles and reach the goal. The proposed approach is implemented on different simulation scenarios involving state or dynamic obstacles in the environment. Results show that the novel method is efficient and that the mobile robot succeeds to reach its target in a collision-free path in different cases.