Mobile Robot Navigation Based on Turning Point Algorithm and Sliding Mode Controller

摘要

The design of an efficient navigation approach for the mobile robot and the insurance of its security are important tasks to achieve, when the robot goes from an initial position to the desired one. The aim of the present work is to develop an algorithm using a turning point in order to find the shortest path and help the robot to reach the target without hitting obstacles. In this manuscript, we developed an algorithm in a static environment where the positions of obstacles are known at first. In addition, a sliding mode controller is used to achieve robustness, stability and reactivity. Finally, simulation results are presented to illustrate the utility and the validity of this approach.