Navigation of mobile robot in dynamic environments

摘要

The main goal of mobile robot navigation is the steering of a robot in any direction, in particularly towards the goal, and to know its precise location in the environment. The existing path finding methods are basically based on potential field method, vector field histogram and A^∗ methods. Using these methods the finding of feasible path will not complete in reasonable short time for real-time operation. This paper is devoted to the development and implementation of path finding algorithm that obtains the path in required short time. A rapidly exploring random tree (RRT) algorithm that quickly finds a feasible solution is basically used to solve this problem. However, the RRT algorithm alone does not return better results. Here the integration of RRT with path smoothing techniques is considered. Through simulation it was shown that this algorithm has efficiently finds desirable and near optimal solutions in short time.