A Braitenberg approach to mobile robot navigation in unknown environments

Abstract

In this paper a new approach is developed for a two-wheeled mobile robot to navigate smoothly in unknown environments. This approach uses the ideas of Braitenberg strategy. The strategy is reactive when it perceives the sensory information and uses online path navigation. Furthermore, an algorithm called switching command strategy (SCS) has been developed in which the navigation method provides simple, efficient and effective motion path. The SCS is applied in order for the robot to skip out from a "dead cycle" problem. The algorithm is constructed for doing two principal tasks. The first task is reaching the goal safely in stationary environment while avoiding the static objects and the second task is to navigate in dynamic and complex environment by mobile robot while avoiding moving objects. During the experiments, a simple obstacle avoidance has been extensively tested with various static and dynamic environments. The results of the study showed the efficiency and enhanced performance of the navigation algorithm. © 2012 Springer-Verlag.