Autonomous mobile robot navigation based on an integrated environment representation designed in dynamic environments

摘要

The collision avoidance concept is widely applied for developing and designing in autonomous robotic applications. In an unknown environment, the challenge in mobile robot navigation or path planning is to find the path from the starting point to the target avoiding obstacles. This paper investigates the mobile robot navigation based on an integrated environment representation of the environment. It presents a developed algorithm for solving the obstacle avoidance problem in dynamic environment. The proposed algorithm ensures that the mobile robot whenever senses the obstacle, changes his direction without being collided and moves smoothly to the designed target when the path is free. The simulation results and experimental ones are presented to show performances and the effectiveness of the presented approach. These results illustrate that the developed algorithm can be well applied in the mobile robot navigation.