Abstract:
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront
propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be
achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its
destination. This paper presents the approach and results in implementing an autonomous navigation system for an
indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional
world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features
such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for
dynamic environments.
