A navigation algorithm for a non-holonomic mobile robot navigated by a sensor network in dynamic cluttered environments

This paper proposes a navigation system for a non-holonomic mobile robot. The navigation is based on a “look and move” approach. The aim is to define intermediate points called sub-goals through which the robot must pass. This algorithm is particularly suitable for navigation in an unknown environment and obstacle avoidance. Between two successive sub-goals, a shortest path planning solution is adopted. We have adopted the “Dubins' car” because of the environment perception sensor, a 180° laser scanner. In order to minimize the calculation time, the theoretical results of shortest path are approximated by simple equations. The navigation algorithm proposed can be used either in a structured or unstructured environment. In this context the local map construction is based on the segmentation of a structured environment; so for an unstructured environment, a suitable algorithm must be used instead.

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A Hybrid Reactive Navigation Strategy for a Non-holonomic Mobile Robot in Cluttered Environments

2019 Chinese Control Conference (CCC) ◽

10.23919/chicc.2019.8865511 ◽

2019 ◽

Cited By ~ 1

Author(s):

Jian Zhang

Keyword(s):

Mobile Robot ◽

Cluttered Environments ◽

Reactive Navigation ◽

Navigation Strategy ◽

Holonomic Mobile Robot

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Global shortest path planning for a wheeled mobile robot navigated by a sensor network in dynamic cluttered environments

2016 35th Chinese Control Conference (CCC) ◽

10.1109/chicc.2016.7554216 ◽

2016 ◽

Author(s):

Hang Li

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Sensor Network ◽

Shortest Path ◽

Wheeled Mobile Robot ◽

Cluttered Environments

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A safe area search and map building algorithm for a wheeled mobile robot in complex unknown cluttered environments

Robotica ◽

10.1017/s0263574717000194 ◽

2017 ◽

Vol 36 (1) ◽

pp. 96-118 ◽

Cited By ~ 10

Author(s):

Andrey V. Savkin ◽

Hang Li

Keyword(s):

Mobile Robot ◽

Computer Simulations ◽

Search Algorithm ◽

Robot Navigation ◽

Map Building ◽

Range Finder ◽

Cluttered Environments ◽

Navigation Algorithm ◽

Safe Area ◽

Complete Search

SUMMARYIn this paper, a safe map building and area search algorithm for a mobile robot in a closed unknown environment with obstacles is presented. A range finder sensor is used to detect the environment. The objective is to perform a complete search of the environment and build a complete map of it while avoiding collision with the obstacles. The developed robot navigation algorithm is randomized. It is proved that with probability 1 the robot completes its task in a finite time. Computer simulations and experiments with a real Pioneer-3DX robot confirm the performance of the proposed method.

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Tangent graph based navigation of a non-holonomic mobile robot in cluttered environments

2011 19th Mediterranean Conference on Control & Automation (MED) ◽

10.1109/med.2011.5983068 ◽

2011 ◽

Author(s):

Andrey V. Savkin ◽

Michael Hoy

Keyword(s):

Mobile Robot ◽

Cluttered Environments ◽

Holonomic Mobile Robot

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Agoraphilic navigation algorithm in dynamic environment with obstacles motion tracking and prediction

Robotica ◽

10.1017/s0263574721000588 ◽

2021 ◽

pp. 1-19

Author(s):

H. S. Hewawasam ◽

M. Yousef Ibrahim ◽

Gayan Kahandawa ◽

T. A. Choudhury

Keyword(s):

Free Space ◽

Motion Tracking ◽

Dynamic Environment ◽

Experimental Tests ◽

Cluttered Environments ◽

Navigation Algorithm ◽

Prediction Module ◽

Future Space ◽

Free Spaces ◽

Advanced Development

Abstract This paper presents a new algorithm to navigate robots in dynamically cluttered environments. The proposed algorithm uses basic concepts of space attraction (hence the term Agoraphilic) to navigate robots through dynamic obstacles. The new algorithm in this paper is an advanced development of the original Agoraphilic navigation algorithm that was only able to navigate robots in static environments. The Agoraphilic algorithm does not look for obstacles (problems) to avoid but rather for a free space (solutions) to follow. Therefore, it is also described as an optimistic navigation algorithm. This algorithm uses only one attractive force created by the available free space. The free-space concept allows the Agoraphilic algorithm to overcome inherited challenges of general navigation algorithms. However, the original Agoraphilic algorithm has the limitation in navigating robots only in static, not in dynamic environments. The presented algorithm was developed to address this limitation of the original Agoraphilic algorithm. The new algorithm uses a developed object tracking module to identify the time-varying free spaces by tracking moving obstacles. The capacity of the algorithm was further strengthened by the new prediction module. Future space prediction allowed the algorithm to make decisions considering future growing/diminishing free spaces. This paper also includes a bench-marking study of the new algorithm compared with a recently published APF-based algorithm under a similar operating environment. Furthermore, the algorithm was validated based on experimental tests and simulation tests.

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