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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Smooth Autonomous Patrolling for a Differential-Drive Mobile Robot in Dynamic Environments.

Ana Šelek¹, Marija Seder¹, Ivan Petrović¹

¹Laboratory for Autonomous Systems and Mobile Robotics (LAMOR), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, Croatia.

Sensors (Basel, Switzerland)

|September 9, 2023

Summary

This study introduces a new method for mobile robot navigation, using clothoid curves for smooth, collision-free patrolling. The algorithm enhances efficiency by reducing execution time and path length in dynamic environments.

Keywords:

mobile robot motion planning path smoothing patrolling

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Area of Science:

Robotics
Artificial Intelligence
Computer Science

Background:

Mobile robots are increasingly used in tasks like surveillance and search and rescue.
Efficient and safe navigation in dynamic environments is crucial for robot applications.
Existing methods may struggle with replanning and smooth trajectory generation.

Purpose of the Study:

To propose an online smooth-motion-planning method for mobile robots.
To generate collision-free patrolling trajectories using clothoid curves.
To improve navigation efficiency and safety in dynamic environments.

Main Methods:

Developed an online smooth-motion-planning method based on clothoid curves.
Combined global and local planning strategies for adaptability in large, changing environments.
Integrated a golden ratio-based path smoothing technique for obstacle avoidance and orientation alignment.

Main Results:

The proposed algorithm significantly reduced patrolling execution time and path length.
Demonstrated reduced deviation of the tracked trajectory from the planned route.
Validated real-time operational capability and performance with a differential-drive mobile robot.

Conclusions:

The novel method enables smoother, more efficient, and safer mobile robot patrolling.
The algorithm is computationally simple, suitable for real-time applications.
Clothoid curve-based planning offers advantages for dynamic environment navigation.