Hierarchical Variable Structure Control for the Path Following and Formation Maintenance of Multi-agent Systems

Obstacle-avoiding intelligent algorithm for quad wheel robot path navigation

Purpose

The purpose of this work is to propose quad wheel robot with path navigation using an intelligent novel algorithm named as obstacle-avoiding intelligent algorithm (OAIA).

Design/methodology/approach

The paper proposes OAIA algorithm, which is used to minimize the path distance and elapsed time between source and goal.

Findings

The hardware implementation of the Quad Wheel Robot design includes a global positioning system (GPS) module for path navigation. An ultrasonic module (HC SR04) is mainly used as the sensing unit for the system. In the proposed scheme, the GPS locator (L80) is used to obtain the current location of the robot, and the ultrasonic sensor is utilized to avoid the obstacles. An ARM processor serves as the heart of the Quad Wheel Robot.

Practical implications

This paper includes real-time implementation of quad wheel robot for various coordinate values, and the movement of the robot is captured and analysed.

Originality/value

The proposed OAIA is capable of estimating the mobile robot position exactly under ideal circumstances. Simulation and hardware implementation are carried out to evaluate the performance of the proposed system.