IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT | Science Publications

American Journal of Engineering and Applied Sciences

Sun Yi¹  Stephen Armah¹  Taher Abu-Lebdeh¹ 

关键词: Wheeled Mobile Robots;    PID-Feedback Control;    Navigation Control Algorithm;    Differential Drive;    Hybrid Automata;   

DOI  :  10.3844/ajeassp.2014.149.164

学科分类：工程和技术（综合）

来源: Science Publications

【 摘 要 】

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.

【 授权许可】

Unknown