Autonomous Mobile Robot Navigation to Exit Path Planning for Floor Tile Room

This paper shows an algorithm for path planning to reach an exit load inside to unknown environment but dimensional conditions bounded and with obstacles avoidance. The algorithm implemented consider to implant into a Pioneer 3-DX with the Arnl tools, so that, the grid-map navigation use two dimensional space; limiting only by floor tiles adjust the algorithm respect to the real environment. It could be seen as a whole where the path plan algorithm achieve a specific path for anywhere position or orientation into two dimensional space defined into the knowledge base; having it as objective, to exit with autonomous decision. It has a set answers and landmark motion with time restrictions. In this case, the first simulation requires knowing the environment, but don't know the random position obstacles. The position reached by sonar sensor with Doppler infort-nation, requires the odometer orientation and position into a grid-base with motion on cardinal and intermediate direction as long as the environment permits to follows the desired exit path; in other words, with a plane defined, the autonomous mobile robot move into valid position with specific obstacles set. The strategy represents random paths, step by step, evaluating in each interval the path achieved for the desired goal.