Open AccessPath finding and guidance algorithms for autonomous mobile robots in a tree structure network
Author(s) -
S Nanu,
George Belgiu,
A-M Dan,
Adriana Berdich,
A Anistoroaei
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1182/1/012053
Subject(s) - computer science , path (computing) , intersection (aeronautics) , tree (set theory) , mobile robot , point (geometry) , algorithm , robot , real time computing , artificial intelligence , mathematics , computer network , engineering , mathematical analysis , geometry , aerospace engineering
Considering an autonomous mobile robot that has to navigate indoor and outdoor from a certain point towards another certain point in a tree structure, the paper is giving a solution for finding the path and navigation. The mathematical model is proposed for a number n DP of departure/destination points (DP), a number n IP of intersection points (IP) and connections between them in a tree structure. Based on mathematical model, the problems solved and presented in this paper are i) to find a path from any departure point to any destination point, ii) to generate an algorithm for guidance of an autonomous robot to follow the path. Both algorithms were tested on Matlab Simulink® environment. An implementation of algorithms in a pseudocode is presented. The algorithms were adapted to be implemented on a microcontroller based board. The advantage of algorithms and implementation is simplicity. The outcome is less memory consumption and increased computing and execution speed.