Mohsen Shayestegan and Mohammad H. Marhaban
Dynamic environment, static environment, local navigation, local minimum problem, Braitenberg strategy
The ideas of Braitenberg strategy has been used in this paper as a novel method for a two-wheeled mobile robot for smooth navigation in unidentified situations. The method is reactive when it recognizes the sensory information and uses online path navigation. In addition, switching command strategy algorithm was introduced and used by the robot to solve problem of "dead cycle". Two principal tasks were considered in the algorithm construction. First, the robot should safely reach the goal in unidentified environment with obstacles avoidance. To find the way in compound environment while keeping away from dead cycle traps was the second task. Straightforward avoidance of obstacle was extensively tested during the simulation experiments in different environments. The study revealed the enhanced performance and effectiveness of the navigation algorithm.
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