Intelligent Bug Algorithm (IBA): A Novel Strategy to Navigate Mobile\n Robots Autonomously

摘要

This research proposed an intelligent obstacle avoidance algorithm to\nnavigate an autonomous mobile robot. The presented Intelligent Bug Algorithm\n(IBA) over performs and reaches the goal in relatively less time as compared to\nexisting Bug algorithms. The improved algorithm offers a goal oriented strategy\nby following smooth and short trajectory. This has been achieved by\ncontinuously considering the goal position during obstacle avoidance. The\nproposed algorithm is computationally inexpensive and easy to tune. The paper\nalso presents the performance comparison of IBA and reported Bug algorithms.\nSimulation results of robot navigation in an environment with obstacles\ndemonstrate the performance of the improved algorithm.\n