Compound zeno behavior-based autonomous mobile robot obstacle avoidance algorithm in unknown environment

This paper concentrates on just producing emergency behaviors that lead the mobile robot navigation around the obstacles. Furthermore, the definitions of deterministic behaviors, zeno behaviors and compound zeno behaviors are given. The theoretical foundations of designing of the compound zeno behaviors are discussed. Some design and implementation issues of the mobile robot autonomous agency are also discussed in this paper. This algorithm embeds a set of different controllers that generate reference signals for the robot linear and angular speeds. Some analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. The performance aspect of this approach is verified experimentally by mobile robot simulation platform.