Indoor environment navigation algorithms for sonar-based mobile robots

This paper studies several robot navigation algorithms for mobile robots in indoor environment. These algorithms are based on local reactive methodology. By adaptively mixing these algorithms, a mobile robot only equipped with limited sensory devices can be easily driven at high speed and safely in a complex environment. The proposed approach has been extensively tested on a realistic simulation platform for the mobile robot: Pioneer 3, and a complex office environment. The simulation and experimental results show that the mixed-algorithm approach demonstrates better performance than using only one single algorithm.