Autonomous navigation for mobile robot based on a sonar ring and its implementation

To solve the local trap problems in traditional mobile robot navigation strategy, a algorithm is proposed for mobile robot based on a sonar ring to realize the navigation in an unknown and complex environment. An obstacle avoidance behavior based on Fuzzy logic control and wall-following are presented on the base of building models of sonar data. Using FSM(finite state machine), the navigation status of mobile robot transfer when the information of environment changes, and a corresponding strategy is chosen to realize the navigation task. This algorithm can effectively solve the local trap problems in traditional mobile robot navigation strategy. Experiments on the Pioneer 3DX mobile robot are conducted to evaluate the performance of the algorithm, and good results are obtained.