Path planning and navigation for autonomous mobile robot

摘要

Given a certain target point, the mobile robot's navigation could be mainly considered about two areas, 'how fast and accurate' and 'how safe'. Such problems regarding the velocity and stability have close relationship with the path in which the mobile robot navigates. Therefore, in this paper, considering the surrounding environment, the path planning was conducted to ensure stable navigation of the mobile robot for two main parts. First, the shortest path and the feature point for the global path planning was chosen by utilizing cell decomposition method off-line computation. Second, to control the movement and path between the feature points, Potential field method, which acutely responds to the surrounding environment on-line computation, is used. In order to detect the given path and avoid obstacles, the navigation algorithm was composed by using two fuzzy logic control.