Control and Navigation of an Autonomous Mobile Robot with Dynamic Obstacle Detection and Adaptive Path Finding Algorithm

In this work, a novel approach for navigation, guidance and control of a duo cycle autonomous robot vehicle with dynamic obstacle avoidance and adaptive path finding algorithm is presented. Real time control and simulation of vehicle movements and orientation is made by a stationary computer. In addition, a self developed algorithm is integrated to the system for dynamic obstacle avoidance and adaptive path finding. Sub-optimal paths to the given target point are calculated simultaneously according to dynamic environment with a written algorithm program. Low level control operations are made by microcontroller to minimize time depended errors. Mobile computer is used to collect laser measurement data and provides the communication between vehicle and control station (stationary pc). Laser measurement sensor is used for simultaneous obstacle detection and environment mapping so that an adaptive like path finding can be realized. The simulations and experimental results showed the effectiveness of the proposed approach for navigation applications with adaptive path finding algorithm.