Autonomous navigation with deadlock detection and avoidance

摘要

This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results.