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Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation

by Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 97 - Number 11
Year of Publication: 2014
Authors: Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane
10.5120/17051-7228

Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane . Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation. International Journal of Computer Applications. 97, 11 ( July 2014), 13-18. DOI=10.5120/17051-7228

@article{ 10.5120/17051-7228,
author = { Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane },
title = { Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation },
journal = { International Journal of Computer Applications },
issue_date = { July 2014 },
volume = { 97 },
number = { 11 },
month = { July },
year = { 2014 },
issn = { 0975-8887 },
pages = { 13-18 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume97/number11/17051-7228/ },
doi = { 10.5120/17051-7228 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:23:50.745473+05:30
%A Min Raj Nepali
%A Amar Mani Aryal
%A Ashutosh
%A Kamal Lamichhane
%T Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation
%J International Journal of Computer Applications
%@ 0975-8887
%V 97
%N 11
%P 13-18
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

It is a challenging task to make a mobile robot navigate to a desired goal in an environment with obstacles. It is sure that, just path planning algorithm will not be able to guide the robot to the desired goal in such environment. Certain kind of Obstacle avoiding algorithm is to be incorporated along with the path planning algorithm to achieve the aforementioned objective. Among the various existing algorithms an attempt to implement Bug algorithm and Virtual goal algorithm and the comparative study on the same was done. Numbers of experiments were conducted to draw the inference that, which algorithm is better. To conduct the experiments the algorithms were run in NXPLPC 1768 microcontroller. For detecting the Obstacles the system was equipped with a ring of eight sonar. For simulation MATLAB was used. The conclusion that, virtual goal method is better than the bug algorithm is drawn finally through number of experiments and observations.

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Index Terms

Computer Science
Information Sciences

Keywords

Autonomous Mobile robots Robot navigation Obstacle avoidance Nonlinear control systems.