Wavefront Propagation and Fuzzy Based Autonomous Navigation

TL;DR

This paper presents an autonomous indoor robot navigation system combining wavefront path planning with fuzzy obstacle avoidance, utilizing laser sensors and dynamic environment features for efficient and smooth navigation.

Contribution

It introduces an integrated approach that combines wavefront propagation and fuzzy logic for obstacle avoidance in indoor robot navigation.

Findings

Successful implementation of the system in indoor environments.

Enhanced navigation efficiency through object ageing and smooth motion planning.

Effective obstacle avoidance in dynamic settings.

Abstract

Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.