Indian Journal of Science and Technology

Abstract

Background/Objectives: To design a navigation control architecture which attempts to identify optimal path for a mobile robot agent to move from initial position to target position, in an environment where multiple path exists. Methods/ Statistical Analysis: The design of navigation control architecture determines how all the components are integrated and it is completely depends on its requirement and since, there is no standard reference architectures exists, we propose an architecture for mobile robot system, with three-tier user centric layer approach with hybrid methodology. The integration and interaction between the three layers are both centralized as well as distributed and, choice of selecting the path planner mechanism differs from existing system. Findings: In this paper, various existing robot architectures were reviewed in high level. A Hybrid methodology is used to adopt along with dynamic modelling approach for motion planning system and geometric modelling approach for path planning system, to suit the design complexity. The Path planner control system model proposed in this paper focuses much on agent based path planning system and motion planning system, which plays critical role in controlling the movement of a non-holonomic robot system. Application/Improvements: The efficiency of the proposed architecture is yet to be evaluated by applying this system in real time application 

Keywords: Autonomous Mobile Robot, Control Architectures, Feedback Mechanism, Layered Approach, Navigation System, Path Planning