American Journal of Engineering and Applied Sciences

IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT

Stephen Armah, Sun Yi and Taher Abu-Lebdeh

DOI : 10.3844/ajeassp.2014.149.164

American Journal of Engineering and Applied Sciences

Volume 7, Issue 1

Pages 149-164

Abstract

This study presents an effective navigation architecture that combines ’go-to-goal’, ’avoid-obstacle’ and ’follow-wall’ controllers into a full navigation system. A MATLAB robot simulator is used to implement this navigation control algorithm. The robot in the simulator moves to a goal in the presence of convex and non-convex obstacles. Experiments are carried out using a ground mobile robot, Dr Robot X80SV, in a typical office environment to verify successful implementation of the navigation architecture algorithm programmed in MATLAB. The research paper also demonstrates algorithms to achieve tasks such as ’move to a point’, ’move to a pose’, ’follow a line’, ’move in a circle’ and ’avoid obstacles’. These control algorithms are simulated using Simulink models.

Copyright

© 2014 Stephen Armah, Sun Yi and Taher Abu-Lebdeh. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.