Hybrid Approach to Design the Navigation Controller for Autonomous Mobile Robot

Abstract

The objective of this thesis is to propose a hybrid navigation control newlinearchitecture that provides a common design framework in a well thought-out method newlinethat pact with the difficulty of a mobile robot system but not limited to, robot path newlineplanning, localization, robot sensing, and mapping problem. In this work, we newlinepresents contribution made earlier towards the development of control architecture newlineand its limitation/gap. We present a comprehensive study on open agent architecture newlinethat provides a common framework for an autonomous mobile robot agent to newlinefacilitate static and dynamic configurations, using inter-agent communication newlinelanguage. newlinePath planning, obstacle avoidance and navigation are considered as a newlinefundamental problem in the area of robotics, in which the fundamental requirement newlineis to identify an obstruction free optimal lane that exists between source and newlinedestination. We further more propose a hybrid navigation control architecture newlinesystem with the behavioral analysis method which uses fusion between path planner newlineunit, run time unit, and surveillance unit for precise navigation. newlineThis work also examines grid based algorithm to be used by the autonomous newlinemobile robot for optimal navigation. By using the defined grid environment, the newlineglobal path planning algorithms were applied on a common framework that decides newlinean appropriate way of exploration based on the acquired facts. The time taken and newlinethe optimal path that autonomous mobile robot agent taken is considered as newlineoptimization setback and for that reason can be examined and resolved using local newlineand global method of conventional techniques like Breadth First Search, A-Star, and newlineDepth First Search algorithms. The robustness and efficiency of the path planning mechanism in navigation controller have been checked using a test bed called RoboSim and a comparative newlineperformance measures been taken out. The test result proves that the intended hybrid newlinenavigation controller unit is competent of staying away from the static and dynamic newlineobstruction and reaching the final point in an optimal manner. The result shows that, newlinethe proposed controller is adaptable for various positions in the operating area and newlinesignificantly improves the performance of the system. newline newline newline newline