Dynamic path planning algorithm for autonomous mobile robot with a minimum number of turns in unknown environment

The article is devoted to the problem of reactive navigation of a mobile robot with limited information about the environment. An algorithm for finding a path from source to the target with a minimum number of turns is described. The idea of the algorithm is based on the bug family of algorithms for reactive navigation. The mobile robot remembers the boundaries of obstacles and calculates the angle of rotation depending on the surrounding situation. The difference from bug algorithms is that the robot does not move "along the obstacle", but turns only in a limited number of cases. The results of testing the algorithm on simulated polygons are presented. Models of fallen trees, stumps and swamps were considered as obstacles. The performance of the algorithm is evaluated by comparing the minimum possible number of turns with the number of turns in the path obtained using the algorithm.