The agoraphilic algorithm: a new optimistic approach for mobile robot navigation

摘要

This paper presents a summary of research which is recently conducted at Monash University -Gippsland Campus. The objective of this research project is to develop a new efficient methodology for mobile robot navigation. The new "optimistic" algorithm is based on free space attraction rather then looking for obstacles to avoid. It utilizes a single attractive force, generated by the surrounding local free-space, as opposed to the classical Artificial Potential Field (APF) whereby attractive and repulsive forces are employed. Adaptive Fuzzy Logic is then utilized to limit the 'free-space' force so as to promote the movement toward the goal. To demonstrate the algorithms ability, several simulations plus some preliminary experimental results are presented.