Abstract
In this paper, the path planning approach for the wheeled mobile robot has been presented using Metric-Cauchy Sequence for static environment. The Euclidean metric associated with the distance measurement and the Cauchy sequence optimizes the navigational decisions. This dual approach applies to study navigational challenges such as path complexity, path safety, path optimization, obstacle avoidance, map generation, and goal tracking. The developed navigational model has been tested in a simulation environment using MATLAB software, and real-time environment using the Khepera robot and in-house developed robot on a defined arena for single-robot and multi-robot system. The observations made from both the platforms are compared in terms of navigational time and path length, and obtained results are found to be in close proximity to each other. Furthermore, the developed controller is also compared with the other existing work for validating the performance.
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