Control points searching algorithm for autonomous mobile robot navigation with obstacle avoidance

Path planning is an important task in autonomous navigation. It aims to determinate the suitable path that allows the robot to reach the goal configuration safely and in short time. This manuscript investigates the navigation strategy for the wheeled mobile robot in known environment containing static obstacles. The approach is based on the evaluation of the visibility condition which handles if there is an intersection between the planned path and obstacles. Then, control points are determined to facilitate the construction of the safe path. Furthermore, a sliding mode controller is used for tracking the planned trajectory. At last, simulation results are presented to show the efficiency of the developed strategy.