Autonomous mobile robot navigation system designed in dynamic environment based on transferable belief model |
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Authors: | Wang YaonanAuthor VitaeYang YiminAuthor Vitae Yuan XiaofangAuthor VitaeZuo YiAuthor Vitae Zhou YuanliYin Feng Tan Lei |
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Affiliation: | a College of Electrical and Information Engineering, Hunan University, Changsha, Hunan 410082, PR China b Key Laboratory of Regenerative Energy, Electric-Technology of Hunan Province, Changsha University of Science and Technology, Changsha, Hunan 410004, PR China |
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Abstract: | This paper investigates the possibility of using transferable belief model (TBM) as a promising alternative for the problem of path planning of nonholonomic mobile robot equipped with ultrasonic sensors in an unknown dynamic environment, where the workspace is cluttered with static obstacles and moving obstacles. The concept of the transferable belief model is introduced and used to design a fusion of ultrasonic sensor data. A new strategy for path planning of mobile robot is proposed based on transferable belief model. The robot’s path is controlled using proposed navigation strategy that depends on navigation parameters which is modified by TBM pignistic belief value. These parameters are tuned in real time to adjust the path of the robot. A major advantage of the proposed method is that, with detection of the robot’s trapped state by ultrasonic sensor, the navigation law can determine which obstacle is dynamic or static without any previous knowledge, and then select the relevant obstacles for corresponding robot avoidance motion. Simulation is used to illustrate collision detection and path planning. |
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Keywords: | Navigation Path planning Mobile robot Robust tracking control Transferable belief model Dynamic environment |
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