IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT
Armah · American Journal of Engineering and Applied Sciences · 2014
This study presents an effective navigation architecture that combines 'go-to-goal', 'avoid-obstacle' and 'follow-wall' controllers into a full navigation system.A MATLAB robot simulator is used to implement this navigation control algorithm.The robot in the simulator moves to a goal in the presence of convex and non-convex obstacles.Experiments are carried out using a ground mobile robot, Dr Robot X80SV, in a typical office environment to verify successful implementation of the navigation architecture algorithm programmed in MATLAB.The research paper also demonstrates algorithms to achieve tasks such as 'move to a point', 'move to a pose', 'follow a line', 'move in a circle' and 'avoid obstacles'.These control algorithms are simulated using Simulink models.