Reactive navigation of mobile robots using optmal via-point selection method

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In this paper, robot navigation experiments with a new navigation algorithm are carried out in real environments. The authors already proposed a reactive navigation algorithm for mobile robots using optimal via-point selection method. At each sampling time, a number of via-point candidates is constructed with various candidates of heading angles and velocities. The robot detects surrounding obstacles, and the proposed algorithm utilizes fuzzy multi-attribute decision making in selecting the optimal via-point the robot would proceed at next step. Fuzzy decision making allows the robot to choose the most qualified via-point even when the two navigation goals-obstacle avoidance and target point reaching-conflict each other. The experimental result shows the successful navigation can be achieved with the proposed navigation algorithm for real environments.