Mobile robot navigation based on optimal via-point selection method

摘要

In this paper, a new navigation algorithm for wheeled mobile robots is proposed. The proposed algorithm utilizes fuzzy multi-attribute decision-making method in deciding which via-point the robot would proceed at each decision step. Via-point is defined as the local target point of robot's movement at each decision instance. We define a few fuzzy goals to achieve successful robot navigation. At each decision step, a set of the candidates of next via-point in 2D navigation space is constructed by combining various heading angles and velocities. Given the fuzzy goals, the fuzzy decision-making enables the robot to choose the optimal via-point among the candidates. Results from a series of simulations and an experiment in a real environment show the effectiveness of the proposed method.