An Innovative Real-time Distance Estimation Method for Distance-only navigation of a Mobile Robot

Abstract - Autonomous mobile robots are widely used in human life such as industry, disaster, military, security. At the same time, robot safety navigation and target guidance are attractive topics for researchers. In modern navigation methods, it is assumed that the gaze angle and the relative distance between the robot and the target are available. On the other hand, some navigation algorithms are based on distance information. For example, the isometric navigation guidance (ENG) method is a navigation method only in the range.

Navigation and obstacle avoidance are the most important tasks for every mobile robot. In this paper, we introduced an adaptive neuro fuzzy inference system (ANFIS) control system for mobile robot navigation and obstacle avoidance in an unknown static environment. Various sensors such as ultrasonic distance sensors and sharp infrared sensors are used to detect obstacles ahead in the environment. The input to the ANFIS controller is the obstacle distance obtained from the sensor, and the output of the controller is the steering angle of the robot. The main purpose of this task is to guide the mobile robot in a specific environment using the ANFIS controller. Computer simulation was performed by MATLAB software and executed in real time by running C / C ++ language of mobile robot based on Arduino microcontroller. Furthermore, the experimental results of actual mobile robot proved the effectiveness and efficiency of the proposed control device.

The theme of this paper is to navigate the unknown environment with undefined posture information for mobile robots. The mobile robot has a finder and a magnetometer with limited field of view limited to guess its direction. The target position is already known, and the position specification of the robot is influenced by the measurement error. The uncertainty is taken into account by calculating the visibility and ensuring a detection area where safe navigation is assumed regardless of measurement error. The target switching function first guarantees exploration to the target area and then safely directs the robot to the target area. Simulation results demonstrate the effectiveness of this method.