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A novel goal-oriented strategy for mobile robot navigation without sub-goals constraint

Zohaib, Muhammad; Iqbal, Jamshed; Pasha, Syed Mustafa

Authors

Muhammad Zohaib

Syed Mustafa Pasha



Abstract

This paper proposes an approach for obstacle avoidance to ensure safe navigation in a mazy environment. The presented bubble bug algorithm (BBA) is an enhancement of already proposed intelligent bug algorithm (IBA), which over performs bug variants. The improved performance of BBA is achieved by fusing IBA with bubble band technique (BBT) and bubble rebound algorithm (BRA). The novelty of the proposed strategy BBA lies in its salient features compared with the existing algorithms, achieved by addressing limitations of IBA and BRA. The proposed solution is goal-oriented and offers collision avoidance from neighboring obstacles by defining bubble around the robot. Simulation results illustrating navigation in various scenarios and comparative plots of path cost witness effectiveness of the proposed approach.

Citation

Zohaib, M., Iqbal, J., & Pasha, S. M. (2018). A novel goal-oriented strategy for mobile robot navigation without sub-goals constraint. Revue Roumaine des Sciences Techniques : Série Électrotechnique et Énergétique, 63(1), 106-111

Journal Article Type Article
Acceptance Date Dec 1, 2017
Publication Date Jan 1, 2018
Deposit Date Sep 14, 2021
Journal Revue Roumaine des Sciences Techniques Serie Electrotechnique et Energetique
Print ISSN 0035-4066
Peer Reviewed Peer Reviewed
Volume 63
Issue 1
Pages 106-111
Keywords Autonomous mobile robots; Obstacle avoidance; Path planning
Public URL https://hull-repository.worktribe.com/output/3796975
Publisher URL http://revue.elth.pub.ro/index.php?action=details&id=741