Enhanced Agoraphilic Algorithm for Uneven Terrain-Adaptive Navigation
W. M. D. R. Gunathilaka, Gayan C. Kahandawa, M. Yousef Ibrahim, Hasitha Sanjeewa Hewawasam, Linh V. Nguyen · 2024
This research introduces an innovative methodology aimed at enhancing the Agoraphilic algorithm to effectively guide mobile robots through challenging and uneven terrains. A novel “Free Space Identification Module” is presented as an extension to the traditional Agoraphilic algorithm, which simplifies complex 3D terrain data into a 2D format. This enhancement is applied across the core modules of the traditional Agoraphilic algorithm to create a novel approach tailored for effective navigation in uneven terrains. Simulation testing validates the efficacy of the new methodology, and a comparative analysis with the traditional Agoraphilic algorithm is provided. The results demonstrated the successful navigation of robots in uneven terrain environments, showcasing the adaptability of the enhanced algorithm.