In this paper, the path planning and tracking problems are mentioned to guarantee efficient and safe navigation of autonomous mobile robots. We focus on the path planning, and we also deal with the path tracking and obstacle avoidance. We improved the...
In this paper, the path planning and tracking problems are mentioned to guarantee efficient and safe navigation of autonomous mobile robots. We focus on the path planning, and we also deal with the path tracking and obstacle avoidance. We improved the conventional DT(distance transform) algorithm, and then using the improved DT algorithm we obtain shorter distance paths compared to the conventional DT algorithm. In the stage of the path tracking, we employ the fuzzy logic controller to conduct the path tracking behavior and obstacle avoider behavior to avoid unexpected obstacles.
Through the computer simulation studies, we show the effectiveness of the proposed navigational algorithm for autonomous mobile robots.