A New Approach to Mobile Robot Navigation in Unknown Environments

摘要

Several algorithms have been developed to help guide mobile robots in unknown environments. Various kinds of Bug algorithms are available and each one these algorithms has an advantage over the others under different circumstances. This paper introduces a new approach, the Diligent-Bug (D-Bug) algorithm, which is developed to enable a collision free navigation of robots in an unknown 2-dimensional environment. Static obstacles of arbitrary shapes have been considered to evaluate the developed algorithm. This algorithm also enables robots to avoid getting stuck in both local and global loops.