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Dynamic planning navigation strategy for mobile terrestrial robots

Published online by Cambridge University Press:  04 July 2014

Átila V. F. M. de Oliveira  and
Marcelo A. C. Fernandes
Átila V. F. M. de Oliveira
Affiliation:
Department of Computer Engineering and Automation, Center of Technology, Federal University of Rio Grande do Norte - UFRN, Natal, Brazil
Marcelo A. C. Fernandes*
Affiliation:
Department of Computer Engineering and Automation, Center of Technology, Federal University of Rio Grande do Norte - UFRN, Natal, Brazil
*
*Corresponding author. E-mail: mfernandes@dca.ufrn.br
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Summary

This paper proposes a new dynamic planning navigation strategy for use with mobile terrestrial robots. The strategy was applied to situations in which the environment and obstacles were unknown. After each displacement event, the robot replanned its route using a control algorithm that minimized the distance to the target and maximized the distance between the obstacles. Using a spatial localization sensor and a set of distance sensors, the proposed navigation strategy was able to dynamically plan optimum routes that were free of collisions. Simulations performed using different types of environment demonstrated that the technique offers a high degree of flexibility and robustness, and validated its potential use in real applications involving mobile terrestrial robots.

Keywords

Genetic algorithmsMobile robotsAutonomous navigationDynamic planning
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 568 - 583
Copyright
Copyright © Cambridge University Press 2014 

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