In this study, an effective local minima detection and definition algorithm is introduced for a mobile robot navigating through unknown static environments. Furthermore, five approaches are presented and compared with the popular approach wall-following to pull the robot out of the local minima enclosure namely; Random Virtual Target, Reflected Virtual Target, Global Path Backtracking, Half Path Backtracking, and Local Path Backtracking. The proposed approaches mainly depend on changing the target location temporarily to avoid the original target’s attraction force effect on the robot. Moreover, to avoid getting trapped in the same location, a virtual obstacle is placed to cover the local minima enclosure. To include the most common shapes of deadlock situations, the proposed approaches were evaluated in four different environments; V-shaped, double U-shaped, C-shaped, and cluttered environments. The results reveal that the robot, using any of the proposed approaches, requires fewer steps to reach the destination, ranging from 59 to 73 m on average, as opposed to the wall-following strategy, which requires an average of 732 m. On average, the robot with a constant speed and reflected virtual target approach takes 103 s, whereas the identical robot with a wall-following approach takes 907 s to complete the tasks. Using a fuzzy-speed robot, the duration for the wall-following approach is greatly reduced to 507 s, while the reflected virtual target may only need up to 20% of that time. More results and detailed comparisons are embedded in the subsequent sections.


    Access

    Download


    Export, share and cite



    Title :

    Enhancing robots navigation in Internet of Things indoor systems



    Publication date :

    2021-01-01


    Remarks:

    Computers--2073-431X-- Vol. 10 Issue. 11 No. 153 pp: -



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Autonomous Indoor Navigation for Mobile Robots

    Karthik Valliappan C / Vikram R | BASE | 2021

    Free access

    Autonomous Indoor Navigation System for Mobile Robots

    Dag, Antymos | BASE | 2016

    Free access

    Internet of Things based navigation

    KIM JIN SEON | European Patent Office | 2018

    Free access

    Obstacle Detection for Indoor Navigation of Mobile Robots

    Islam Rasel, Rashedul | BASE | 2017

    Free access