Intelligent Navigation for Multiple Mobile Robots with Dynamic Obstacles

摘要

This paper addresses a navigation problem for multiple mobile robots in unknown dynamic environments. The environments are completely unknown to the robots and the surrounding environments should be detected by the proximity sensors installed on the robots’ bodies. To guide the robot’s movement along collision-free paths and reach the goal positions, an intelligent navigation method based on the combination of primary strategies has been developed. The indoor environments usually contain convex and concave obstacles. In this work, a danger judgment strategy in accordance with the sensor data is used to avoid small convex obstacles or other robots. Furthermore, a wall-following strategy is designed to address the special situations involving large convex or concave obstacles. Finally, when there is no collision risk, the robots will be guided toward the corresponding targets according to a target positioning strategy. All these strategies are achieved using fuzzy logic controllers, and are uniformly applied to each robot. The simulation verified that the proposed method has encouraging effectiveness for solving the navigation problem.