A Navigation Algorithm for a Non-holonomic Mobile Robot Navigated by a Sensor Network in Dynamic Cluttered Environments

摘要

In this paper, we propose a discrete-time navigation algorithm for a non-holonomic mobile robot. A sensor network, which consists of some range finders, is deployed in a planar environment to detect static and moving obstacles. The robot or a server obtains the real-time local maps from sensor nodes and calculates a temporarily safe path from the robot's current position to a given target. The generated path is updated every time step and the robot tracks it to the target and avoids the obstacles and undetected areas. The computer simulations confirm the expected performance of the proposed algorithm.