This paper aims to generate an obstacle free real time optimal path in a cluttered environment for a two-wheeled mobile robot (TWMR).
This TWMR resembles an inverted pendulum having an intermediate body mounted on a robotic mobile platform with two wheels driven by two DC motors separately. In this article, a novel motion planning strategy named as DAYANI arc contour intelligent technique has been proposed for navigation of the two-wheeled self-balancing robot in a global environment populated by obstacles. The developed new path planning algorithm evaluates the best next feasible point of motion considering five weight functions from an arc contour depending upon five separate navigational parameters.
Authenticity of the proposed navigational algorithm has been demonstrated by computing the path length and time taken through a series of simulations and experimental verifications and the average percentage of error is found to be about 6%.
This robot dynamically stabilizes itself with taller configuration, can spin on the spot and rove along through obstacles with smaller footprints. This diversifies its areas of application to both indoor and outdoor environments especially with very narrow spaces, sharp turns and inclined surfaces where its multi-wheel counterparts feel difficult to perform.
A new obstacle avoidance and path planning algorithm through incremental step advancement by evaluating the best next feasible point of motion has been established and verified through both experiment and simulation.
