Autonomous navigation control is the key technology of mobile robot. The navigation algorithm of mobile robot is studied in this paper. A simultaneous localization and mapping (SLAM) algorithm based on particle filter is designed. Then, it is combined with VFH obstacle avoidance algorithm to obtain the navigation algorithm and conduct experiments on it. Through the simulation experiment in MATLAB environment, it is found that the use of SLAM algorithm can reduce the position error of the robot. The average error is 0.003 m, while the average position error without SLAM algorithm is about 0.009 m, which proves the reliability of SLAM algorithm. Then, the simulation experiment of the navigation algorithm also proves that the algorithm can avoid obstacles and reach the destination accurately. The research in this paper provides some theoretical references for the further development of autonomous navigation control of mobile robots.
Mobile robot Autonomous navigation Automatic control Obstacle avoidance
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This study was supported by Teacher Professional Leader High-end Research (Team Visit) Project in Higher Vocational Colleges of Jiangsu Province in 2018 under Grant number 2018TDFX002.
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