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Autonomous Robot Navigation in Known Environment
Fazina Kosser1, Neerendra Kumar2

1Fazina Kosser, Department of Computer Science and Engineering, IT from Central University of Jammu, India.
2Neerendra Kumar, Department of Computer Science and Engineering, IT from Central University of Jammu, India
Manuscript received on 28 February 2023 | Revised Manuscript received on 11 July 2023 | Manuscript Accepted on 15 July 2023 | Manuscript published on 30 July 2023 | PP: 128-132 | Volume-12 Issue-2, July 2023 | Retrieval Number: 100.1/ijrte.F75050311623 | DOI: 10.35940/ijrte.F7505.0712223

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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)

Abstract: Autonomous robot navigation is one of the challenging researched topic in robotics. A secure and optimal path is required for any mobile robot navigation in a known environment. In this work, a Simulink model is proposed based on Pure Pursuit and path-following controllers for solving the navigation problem of mobile robots in a known environment. The Pure Pursuit controller is used to determine the linear and angular velocities of the robot. Moreover, the (x, y) coordinate position of the robot and t h e waypoints are input t o the pure pursuit block. Velocity commands are sent to drive the robot on the given path. The primary objective of the proposed model is to determine an obstacle-free path for mobile robot navigation. However, the robot must navigate from the start to the target location without hitting obstacles. For experimental results, the Turtle Bot Gazebo simulator is used. The “Robotic System Toolbox” in MATLAB is used to program the navigation process.

Keywords: Autonomous, Localization Motion Control, Navigation, Path Planning and Search Algorithms.
Scope of the Article: Autonomous Robots