¹Department of Mechanical Engineering, NIT Rourkela, Odisha, India.
²Department of Mechanical Engineering, RSR RCET Bhilai, Chhattisgarh, India.

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Abstract—Real time navigation is still challenge in mobile robotics. The challenge interacts with decision and optimization of obstacle avoidance and path distance respectively, when robot moves from initial position to target position in complex crowded environment. This paper develops the efficient navigational controller by using modified Firefly Algorithm (FA) which is studied over Normal Probability Distribution (NPD). It fulfills not only the said challenges but also minimizes the computational calculation and random moving of fireflies as additional advantage. The effectiveness of proposed controller has been compared with other navigational controller in terms of path optimality and it has been found that the proposed controller perform better.

Index Terms—Mobile robot navigation, firefly algorithm, path planning, normal probability distribution.

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Cite: B. K. Patle, Dayal Parhi, A. Jagadeesh, O. P. Sahu, "Real Time Navigation Approach for Mobile Robot," Journal of Computers vol. 12, no. 2, pp. 135-142, 2017.