A New Method of Mobile Robot Navigation: Shortest Null Space

In this paper, a new method was proposed for the navigation of a mobile robot inan unknown dynamic environment. The robot could detect only a limited radius ofits surrounding with its sensors and it went on the shortest null space (SNS) towardthe goal. In the case of no obstacle, SNS was a direct path from the robot to goal;however, in the presence of obstacles, SNS was a space around the robot wherefewer or no obstacles existed. In every time step, the robot went to null space. Thesimulation of robot navigation by SNS method showed that SNS can be a simple andvery robust method.

کلیدواژه ها:

Shortest null space ، Navigation ، Mobile robot ، Unknown environment