Abstract: This research is concerned with path analysis and planning of a wheeled drive mobile robot, which still requires improvement. Many authors have used different techniques to resolve these problems, but the stability and optimisation of path and time using intelligent decision-making is still an open area of research for the entire research community. This paper presents the optimisation of path and time using heuristic rule-based technique for a dynamic environment filled with structured and unstructured obstacles. The shapes and positions of the static and moving obstacles in the environment are not known prior to execution for the desired goal. The robot has sensory recognition of specific objects in the environment, and this sensory information provides local information to the robot’s controller according to its immediate surroundings. The robot intelligently deals with this information using the proposed and developed heuristic rule-based techniques to achieve the desired objective by avoiding obstacles present in the environment. The perception-based heuristic rules are developed and embedded in the MATLAB software to obtain the simulation results. The simulation results show that the proposed methodology is simple, effective and efficient for wheeled drive robot navigation in a real dynamic environment.
Keywords: Heuristic rule-based, Path planning, Mobile robot, .