Autonomous navigation for mobile robot based on Tabu search in unknown environment

In order to solve the problem of navigation for mobile robot in unknown environments, a autonomous navigation method is presented using Tabu search algorithm. By analyzing the data collected with laser radar, the visible sub-goal which associated a value by the heuristic function to each sub-goal as a measure for the cost of reaching the end goal via this sub-goal can be identified and the current optimize sub-goal can be determined by Tabu search algorithm. Then the mobile robot can realize the free-obstacle and optimization path based on fuzzy logic control method by gradual way. The algorithm overcomes the shortcoming of repetition visit, local minimum and has the advantages of smoother path and shorter path-length. Simulation results verify the correctness and effectiveness of the proposed method.