Smart and Fully Functional Mobile-Robot Navigation System

Autonomous navigation systems of Wheeled Mobile Robot (WMR) include several interrelated concepts, techniques, and algorithms, such as perception, localization, mapping, planning, and path execution but mapping and path planning are at the core of all of them. Autonomous navigation remains one of the primary challenges in the mobile robot industry; many control algorithms and techniques have been recently developed that aim to overcome this challenge. In this research, we successfully proposed a smart fully functional mobile-robot navigation system (SFMRNS) for WMR, by developing and integrating many self-developed novel system and algorithms. The mapping system integrates two interrelated, self-developed novel components: (1) 2BEDM (Brightness-Based Enhancement for Disparity Map), and (2) I3MS (Intelligent Multi-Sensor Multi-Baseline Mapping System). For path-planning algorithm, we used a self-developed algorithm called AntStar (Ant system Star). For navigation, we used self-developed navigation system based on the behavior of the robots and obstacle. In additional, we used the dead-reckoning technique for localization, and a self-developed navigate system is used to navigate the robot to the target points. To ensure the success of all developed algorithms and systems, we test them individually, in as many experiments as possible, before integrating these components into a fully functional mobile-robot navigation system. The successful integration and interaction of all the proposed systems and algorithms demonstrates a high degree of applicability.