Proposal of algorithms for navigation and obstacles avoidance of autonomous mobile robot

TL;DR

This paper introduces algorithms for indoor autonomous mobile robot navigation and obstacle avoidance, utilizing 3D imaging, a novel 3D-to-2D mapping algorithm, and an improved obstacle avoidance method, validated through experiments.

Contribution

It proposes the IPaBD algorithm for 3D-to-2D mapping and an improved VFH algorithm for obstacle avoidance, enhancing existing methods.

Findings

Successful implementation of the algorithms in experiments

Enhanced obstacle detection and avoidance capabilities

Encouraging experimental results demonstrating effectiveness

Abstract

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers detection (IPaBD), is proposed to create a 2D global map from the 3D images. This map is basic to design the trajectory. A tracking controller is developed to control the robot to follow the trajectory. The obstacle avoidance is addressed with the use of sonar sensors. An improved vector field histogram (Improved-VFH) algorithm is presented with improvements to overcome some limitations of the original VFH. Experiments have been conducted and the result is encouraged.