New Concept of the Fast Reactive Mobile Robot Navigation Using Pruning of Relevant Obstacles
The goal of this paper is to develop an approach to increase the mobile robot navigation speed in an a priori unknown environment. The overall navigation system consists of three navigation subsystems. The lower level subsystem deals with the control of the linear and angular volocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot represents the medium level control, which is implemented by a backstepping algorithm whose parameters are adjusted by a genetic algorithm. The high level subsystem uses Dempster-Shafer evidence theory to design the fusion of sensor data and map building processes. Path planning algorithm is based on the modificated potential field method. In this algorithm, the fuzzy rules for selecting the relevant obstacles for robot motion are introduced. The performance of the proposed system is investigated using a dynamic model of a mobile robot with various frictions.