Automated navigation of a mobile robot using ultrasonic range sensor based on modified E-Bug algorithm
Ankita Mistri, Ajoy Kumar Dutta · AIP conference proceedings · 2022
Mobile robotics is the discipline of robotics that deals with moveable robot systems that can work in an unfamiliar environment or terrain. It is mostly utilized in navigation and exploration research, with applications in autonomous guided vehicles. A mobile robot's path planning is critical for determining the optimal path from source to destination while avoiding collisions with obstacles if present in the path. This paper employs the modified E-Bug algorithm to find out an approximate optimized path for a mobile robot using a simple range sensor in terms of certain parameters. The near optimum path for navigating a mobile robot from a start point to a destination point in the presence of obstacles is determined by detecting ‘sudden points’ using an ultrasonic range sensor fixed on the Activity-Bot mobile robot to avoid any barriers in its path. Furthermore, the efficiency of the modified E-Bug algorithm in a real-world situation is verified using basic integrated development environment (IDE) software by considering the dimensions of the robot rather than treating it as a point. The developed program in C language has been successfully tested for a variety of workspace layouts, and it will aid process engineers in path planning for industrial applications.