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An Algorithm for Navigation of Mobile Robots in Cluttered Environments


Tang, Sai Hong and Kanasen, Nantha Kumar and Motlagh, Omid Reza Esmaeili and Loo, Shing Yan and Khaksar, Weria (2013) An Algorithm for Navigation of Mobile Robots in Cluttered Environments. Advanced Science Letters, 19 (11). pp. 3247-3249. ISSN 1936-6612


Service robots have brought convenience to the disabled. Housekeeping robots, e.g., floor cleaners, must be able to handle obstacles while moving toward designated targets. In real life, yet robots face difficulty in maze-like and in very cluttered environment of crammed indoor spaces. This article introduces a new decision mechanism for path planning in indoors e.g., home, and office. A method is presented for implementing sub-goal network together with wall following. Various subroutines are used to direct the robot towards the target while each subroutine has its own sub-goal. Trajectory results are included to evaluate the performance of the algorithm.

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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
DOI Number: https://doi.org/10.1166/asl.2013.5149
Keywords: Robot Navigation; Path Planning
Depositing User: Muizzudin Kaspol
Date Deposited: 04 Jul 2014 07:16
Last Modified: 29 Dec 2015 03:15
Altmetrics: http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1166/asl.2013.5149
URI: http://psasir.upm.edu.my/id/eprint/28409
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