Autonomous Robot Navigation in Known Environment

Abstract

Autonomous robot navigation is one of the challenging researched topic in robotics. A secure and optimal path in known environment is required for any mobile robot navigation for navigation purpose. In this work, a Simulink model is proposed based on Pure Pursuit and path following controllers for solving the problem of mobile robot navigation in a known environment is presented. Pure Pursuit controller is used to find the linear and angular velocities of the robot. Moreover, (x, y) coordinate position of robot and waypoints are input to the pure pursuit block. Velocity commands are sent to drive robot on the given path. The main aim of the proposed mod el is to find the obstacle free path for the mobile robot navigation. However, the robot is to navigate from start to target location without hitting obstacles. For experimental results, Turtle Bot Gazebo simulator is used. "Robotic system Toolbox" of the MATLAB is used to program the navigation process.