Simulation And Application Of Navigation Path Algorithm Of Simultaneous Location And Mapping For Mobile Robot

Simultaneous Location and Mapping, abbreviated SLAM, means that therobot can create map to make self-localization and navigation when it in theunknown environment without definite location information of itself. Whilerobot finds an optimal route from starting point to the finishing point withoutcollision with obstacles by itself in unknown environment is called SLAMnavigation, which is the hot and difficult point of SLAM. There are manyalgorithms of SLAM navigation, such as Bug algorithm, Alg algorithm, A*,D*and so on. Tangentbug algorithm is easy, real-time and convergent as amember of Bug algorithm, while it is not easy to realize in simulation.Obstacle avoidance of robot is always the hot topic in robot field becauseit comes down to the field of robot control, path navigation and so on. And itis also the common competition event of FIRA ROBO WORLD games.The Tangentbug algorithm is selected as the object of study. Thesimulation of this algorithm is taken in the VS2010, and the problem of it iseasy to cause circle route which leads the destination unreachable when therobot in the environment with obstacles that are symmetrical about the linefrom the starting point to the finishing point is improved and the newTangentbug algorithm based on the recording the move direction of robot isput forward. In the new Tangentbug algorithm, the move direction iscalculated and selected according to the hit direction of the robot and theobstacles, and updated when the transform between the moving straight to thegoal and moving around the obstacles takes place to break the circle andrealize the obstacles avoidance. The experiment results show that the newTangentbug algorithm can realize the obstacles avoidance in not only theenvironment with obstacles that are symmetrical about the line from thestarting point to the finishing point but also the unsymmetrical environment, and is very robust.At last, the Tangentbug algorithm is applied to the real obstaclesavoidance in real environment of NAO robot. It is achieved by combining theTangentbug algorithm with the distance between the robot and the obstacles,and the location of robot on the basis of the location information of obstacleswhich are acquired from the environment graph scanned by the camera on thehead of NAO robot. In the experiment, the Tangentbug algorithm is comparedwith the simple obstacles avoidance in several ways such as the robustness ofalgorithm, time complexity and the length of path. And the results shows thatthe Tangentbug is much more better to be the obstacles avoidance algorithmas it can find a shorter path in shorter time in various environments.