Navigation technique to control several mobile robots

摘要

This paper describes potential field navigation method optimized by simulated annealing technique. In the current analysis a new potential field function is developed so as to take care of unknown obstacles and targets during navigation. The final aims of the robots are to reach targets. Local minimum obtained due to potential field being avoided by simulated annealing technique. After utilizing simulated annealing technique for optimizing potential field method, it is observed that, there is a unique global minimum for an attractive node i.e., target. Afterwards potential field method being optimized by simulated annealing technique is hybridized with neuro-fuzzy technique to improve the navigation of robots in a highly cluttered environment. Simulation results show that the proposed potential-field-simulated-annealing-neuro-fuzzy technique is most efficient against potential-field and potential-field-simulated-annealing techniques.