TY  - JOUR
AU  - Armah, Stephen 
AU  - Yi, Sun 
AU  - Abu-Lebdeh, Taher 
PY  - 2014
TI  - IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT
JF  - American Journal of Engineering and Applied Sciences
VL  - 7
IS  - 1
DO  - 10.3844/ajeassp.2014.149.164
UR  - https://thescipub.com/abstract/ajeassp.2014.149.164
AB  - 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.