Robot Navigation in Dynamic Environment
Robot Navigation in Dynamic Environment
Pankaj Pandey
Department of Mechanical engineering,
DIT University, Dehradun, Uttrakhand, India
S.Oliver Nesaraj
School of Mechanical Engineering
SRM University, Chennai, Tamil Nadu, India
Abstract: Navigation is one of the most challenging competences required of a mobile robot. Success in navigation
requires success in perception, localization, cognition, and motion control. Path planning for mobile robot is not only
guarantees a collision free path with minimum travelling distance but also requires smoothness and clearances. In this
project, mathematical modeling for the robot was done; path planning was done using an algorithm, than using this
mathematical model it was simulated in the MOBOTSIM software in the dynamic environment. Experimental results and
real environment working model show that the proposed algorithm has effective and efficient in achieving the goal
position in dynamic environment.
Keywords: Cognition, Localization MOBOTSIM, Motion Control, Path Clearance, Path Smoothness, Perception.
I. INTRODUCTION
Navigation is a critical ability for robot that claims to be mobile. It encompasses the ability of the robot to act
based on its knowledge and sensor values so that it could reach its goal position as efficiently and reliably as
possible. Navigation involves sensing, acting, planning, architecture, hardware, computational and power
efficiencies; etc. Planning is one obvious aspect of navigation that answers the question: what is the best way there?
Given a map and a goal location, path planning involves identifying a trajectory that will cause the robot to reach the
goal location when executed [1]. Path planning is a strategic problem-solving competence, as the robot must decide
what to do over the long term to achieve its goals. Path planning is one of the important tasks in intelligent robotic
systems such as autonomous mobile robots. There are two types of path planning problems:
(1) Static path planning, which allows a mobile robot to move through stationary obstacles
(2) Dynamic path planning, which allows a mobile robot to generate a new path in response to a changing
environment.
II. METHODLOGY
Objective of the project is to find the shortest path and avoid the obstacles which are either moving or
stationary. For achieving this objective the function of algorithm is divided into three sub functions. Function should
be consist short path between goals and start point, and some clearance in between robot and obstacle to avoid
hitting, and the Bezier curve is used to recover the sharp turning as a smoothness function [2,3]
Now the overall function is divided into three parts: -
1) Sub-function of path length
2) Sub-function of path clearance
3) Sub-function of smoothness
1)Sub-function of path length: If there is no obstacle in the environment that time the shortest path will be the
diagonal of in the given environment. Directly calculating the distance between starting point to the goal point of the
robot, the shortest path can be obtained. Figure1 shows the distance between two points.
Consider the above area with starting point P1 and P2, P3, P4 are via point of robot path and goal point P5, and if
there is no obstacles at that time the shortest path will be the diagonal of square. Means, The distance between point
P1 to P2 and P2 to P3, P3 to P4, and P4 to P5. Figure1 shows the shortest path of area.
Now the equation will be
Fit 1= dist (P1, P2) +dist (P2, P3) +dist (P3, P4) +dist (P4, P5) (1)
If there is ‘n’ point in the environment, the shortest path will be the distance between every via point of the
robot.
If point p1, p2, p3, p4, p5, p6, p7, p8…… in search space then the function as below
Fun1= (2)
In Eq.2, Where (Pi, Pi+1) is the distance between Pi=P (Xi, Yi) and Pi+1=P (Xi+1, Yi+1)
2) Sub-function of path clearance: But this shortest path may not be feasible path, there may be some obstacle as in
fig.4.2. Due to this obstacle the path length will varies. For the obstacle avoidance the function should be as below:
Fun2 = (3)
If >Sd.
Where the Sd =Rr + Or
Sd=distance between robot radius and obstacle radius.
Rr= robot radius
Or=obstacle radius distance
Pi=(Xi, Yi) is the position of via point. i=1, 2, 3, 4….n.
Sj=(Xi, Yj)position of obstacle. j=1, 2, 3, 4….m.
The above Eq.3 is clearance function of the path to avoid the hitting with obstacle.
3)Sub-function of smoothness
During the path planning, when the robot will move from one point Pi to another point Pi+1, the path should be
smooth. For this smoothness, Bezier curve method is used as a steering angle for smooth curve.
and driving data for them, as well as making use of all the power and ease of Basic language to program navigation
techniques [4].
This simulation is done by the real environment experimental setup and mobile robot is able to find the
goal position by avoiding the static and dynamic obstacle. All the programming is done in embedded C. Simulation
results and real environment working model show that the proposed algorithm is effective and efficient in achieving
the goal position in dynamic environment.
IV. ACKNOWLEDGMENTS
First I would like to thanks to Mr. Nitin Kumar Gupta (Assistant Professor ME Dpt. DIT University,
dehradun) for Guiding throughout the research paper and for his immense support and guidance.
REFERENCE
[1] Mahmood Naderan-Tahan, “Planning a Robust Path for Mobile Robots in Dynamic Environment”.Proceedings of the 14th International
CSI Computer Conference (CSICC'09) 978-1-4244-4262, 1/09/2009 IEEE. pp 470-476.
[2] Pu Shi, Yujie Cui, “Dynamic Path Planning for Mobile Robot Based on Genetic Algorithm in Unknown Environment”, IEEE
International Conference on Robotics. pp. 4325-4329, 2010.
[3] Yang Wang, Ian P. W. Sillitoe and David J. Mulvaney, “Mobile Robot Path Planning in Dynamic Environments”, IEEE International
Conference on Robotics and Automation, IEEE. pp.71-76, 2007.
[4] Marius-Constantin O.S. Popescu Nikos E. Mastorakis, “Simulation of da Vinci Surgical Robot Using Mobotsim Program” International
Journal Of Biology And Biomedical Engineering. Vol.2,pp 137-147, 2008.