Title: Autonomous mobile robot navigation based on an integrated environment representation designed in dynamic environments

Authors: Faten Cherni; Maissa Boujelben; Lotfi Jaiem; Yassine Boutereaa; Chokri Rekik; Nabil Derbel

Addresses: Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia ' Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia ' Laboratory of Computer Science, Robotics and Microelectronics of Montpellier (LIRMM), University of Montpellier, France ' Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia ' Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia ' Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia

Abstract: The collision avoidance concept is widely applied for developing and designing in autonomous robotic applications. In an unknown environment, the challenge in mobile robot navigation or path planning is to find the path from the starting point to the target avoiding obstacles. This paper investigates the mobile robot navigation based on an integrated environment representation of the environment. It presents a developed algorithm for solving the obstacle avoidance problem in dynamic environment. The proposed algorithm ensures that the mobile robot whenever senses the obstacle, changes his direction without being collided and moves smoothly to the designed target when the path is free. The simulation results and experimental ones are presented to show performances and the effectiveness of the presented approach. These results illustrate that the developed algorithm can be well applied in the mobile robot navigation.

Keywords: obstacle avoidance; mobile robots; robot path planning; unknown environments; dynamic environments; autonomous robots; robot navigation; collision avoidance; simulation.

DOI: 10.1504/IJAAC.2017.080818

International Journal of Automation and Control, 2017 Vol.11 No.1, pp.35 - 53

Received: 20 Nov 2015
Accepted: 07 May 2016
Published online: 08 Dec 2016 *

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