An Integrated Approach for Intelligent Path Planning and Control of Mobile Robot in Structured Environment

Abstract

This chapter consists of different approaches for advanced integrated path planning, navigation, guidance and tracking control of mobile service robots in structured environments. As first topic, an algorithm for robot path planning in known environments with aim to generate collision free path from starting to destination point, is considered. It is assumed that all obstacles are static. The path planning problem is solved using particle swarm optimization algorithm. The second topic deals with control problems, providing a method which enabled the mobile robot guidance along a given path. This problem can be divided into two problems: generating trajectory from given path and trajectory tracking. Solution of the first problem is provided using radial basis neural networks, while solution of the second problem is provided using mobile robot guidance controller based on algorithms of rocket homing. Proposed algorithms are pure pursuit and deviated pursuit navigation algorithms. Experimental and simulation results show the efficiency of the proposed approach.