Research Article Open Access

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

Stephen Armah1, Sun Yi1 and Taher Abu-Lebdeh1
  • 1 North Carolina A and T State University, USA
American Journal of Engineering and Applied Sciences
Volume 7 No. 1, 2014, 149-164

DOI: https://doi.org/10.3844/ajeassp.2014.149.164

Submitted On: 20 February 2014 Published On: 7 April 2014

How to Cite: Armah, S., Yi, S. & Abu-Lebdeh, T. (2014). IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT. American Journal of Engineering and Applied Sciences, 7(1), 149-164. https://doi.org/10.3844/ajeassp.2014.149.164

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.

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Keywords

  • Wheeled Mobile Robots
  • PID-Feedback Control
  • Navigation Control Algorithm
  • Differential Drive
  • Hybrid Automata