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 in known environment is required for any mobile robot navigation for navigation purpose. In this work, a Simulink model is proposed based on Pure Pursuit and path following controllers for solving the problem of mobile robot navigation in a known environment is presented. Pure Pursuit controller is used to find the linear and angular velocities of the robot. Moreover, (x, y) coordinate position of robot and waypoints are input to the pure pursuit block. Velocity commands are sent to drive robot on the given path. The main aim of the proposed mod el is to find the obstacle free path for the mobile robot navigation. However, the robot is to navigate from start to target location without hitting obstacles. For experimental results, Turtle Bot Gazebo simulator is used. “Robotic system Toolbox” of the 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