Abstract
Considering an autonomous mobile robot that has to navigate indoor and outdoor from a certain point towards another certain point in a tree structure, the paper is giving a solution for finding the path and navigation. The mathematical model is proposed for a number nDP of departure/destination points (DP), a number nIP of intersection points (IP) and connections between them in a tree structure. Based on mathematical model, the problems solved and presented in this paper are i) to find a path from any departure point to any destination point, ii) to generate an algorithm for guidance of an autonomous robot to follow the path. Both algorithms were tested on Matlab Simulink® environment. An implementation of algorithms in a pseudocode is presented. The algorithms were adapted to be implemented on a microcontroller based board. The advantage of algorithms and implementation is simplicity. The outcome is less memory consumption and increased computing and execution speed.
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