Path planning of mobile robot for autonomous navigation of road roundabout intersection

Abstract

The aim of this research is to develop a robust navigation system for mobile robot in a road roundabout setting using laser range finder (LRF) and vision system. A new algorithm for combining the LRF and vision system is investigated to detect the open space area in a road roundabout. The study focuses on the simulation and experimentation of the mobile robot ability to effectively track the path when countering a roundabout with and without obstacle and considering a number of scenarios. The system is simulated using MATLAB with the grid map used to create the road roundabout environment and select the path according to the respective road rules. The experiments are performed using simple platform with laser range finder and the data are processed in real-time in Matlab. Good results from both simulation and experiments show the effectiveness of the proposed algorithm.