International Journal on Interactive Design and Manufacturing (IJIDeM)

https://doi.org/10.1007/s12008-023-01701-1

ORIGINAL ARTICLE

Development of rapidly exploring random tree based autonomous

mobile robot navigation and velocity predictions using K-nearest
neighbors with fuzzy logic analysis
C. Vignesh1 · M. Uma2 · Prabhu Sethuramalingam1

Received: 3 April 2023 / Accepted: 14 December 2023

© The Author(s), under exclusive licence to Springer-Verlag France SAS, part of Springer Nature 2024

Abstract
The purpose of autonomous mobile robot navigation is to construct the optimal defended path. In order to ameliorate the
accuracy of real time cleaning activity of the mobile robot path planning a rapidly exploring random tree (RRT) algorithm was
widely used in larger space environment. This research present the real time cleaning obstacle avoidance in the movement of
path using expert system based decision model on machine learning algorithm. Movable robots require a data source, a way
to analyze that data, and a way to behave in response to an environment that is changing. The ability to detect and adjust to an
unknown situation requires a robust cognitive system. A mobile robot is designed and analysed, which will be autonomously
navigated using the RRT navigation algorithm and this will be virtually simulated in a virtual robot experimentation platform.
The mobile robot that is designed is tested for its stability. The fuzzy logic analysis is used to predict the mobile robot
acceleration and which terrain is most suitable for the robot. Finally using the K-nearest neighbour technique with the
labelled accelerometer mobile robot data for velocity prediction. Simulation results decorate the performance of the proposed
RRT control system. The duration of travel required for the robot to achieve its objective is calculated, and the findings indicate
that operating the robot at 60% of its maximum velocity results is the ideal balance between cleaning effectiveness and time
taken.

Keywords RRT algorithm · Mobile robot · Navigation · Virtual simulation · Fuzzy logic analysis

1 Introduction surveillance technology, and industrial automation. Its capac-

The current world is emerging with more automation, and this
is made possible by the implementation of robots. Robots
have continued to be advanced, and in today’s scenario,
they have been seen in many sectors. The developed RRT-
based navigation system offers versatile applications across
various domains, including autonomous cleaning robots,
B Prabhu Sethuramalingam
prabhus@srmist.edu.in
C. Vignesh
vc4607@srmist.edu.in
M. Uma
umam@srmist.edu.in
1 assembly-line tasks in the manufacturing sector of pro-
Robotics, Department of Mechanical Engineering, SRM
Institute of Science and Technology, Chennai 603203, India
2 intelligent than humans and do enormous human works that
Department of Computational Intelligence, SRM Institute of
Science and Technology, Kattankulathur, Chennai 603203,
India
ity to plan optimized routes while circumventing obstacles
positions it as a reliable solution for tasks demanding effi-
cient and secure navigation. Moreover, the incorporation of
fuzzy logic for velocity forecasting introduces adaptabil-
ity, enabling the system to navigate diverse terrains with
heightened precision. This advancement not only elevates
the capabilities of autonomous robots but also propels the
progression of robotics research and technology. The impli-
cations extend to amplified efficiency, diminished human
intervention, and heightened safety in activities encompass-
ing cleaning, surveillance, and logistical operations.
A wide range of businesses, including military operations,
especially those requiring transportation, and rescue oper-
ations, stand to be drastically altered by robots including
duction. Likewise, now a day, robots are becoming more
are tough to implement for humans.

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A mobile robot is a machine that is capable of locomotion.
Mobile robots are those that can move about their environ-
ment and are not limited to a certain physical space. These
include walking, flying, rolling, and swimming robots. They
can move in the air, on the water’s surface, under the water,
and on land. In contrast, fixed-base robot manipulators are
often only capable of performing a small number of repetitive
tasks while using few sensors. Mobile robots, on the other
hand, function in a less structured manner and are more likely
to contain various sensors. Every robot has a unique ability
that is suitable for the task assigned. Each one has a unique
selection of sensors and actuators. Each intellect functions
effectively in its typical environment. Due to its intelligence
and/or physical ability, a robot may not be able to thrive
in other surroundings. The navigation of mobile robots is
carried out upon its navigation algorithms. There are many
algorithms for the navigation of mobile robots. The naviga-
tion algorithms are classified as, search-based approach and
sampling-based approach. In this paper, we have used one of
the sampling-based methods known as the rapidly exploring
random trees (RRT) navigation algorithm. RRT is used to
implement an optimal path for the desired goal point for the
given start point. It finds an initial path very quickly and then
later continues to improve the route as sample counts rise.
Chengren et al. [1] developed a method for mobility
control for robots working in dynamic situations to fulfil
real-time needs. The efficient bias-goal factor RRT (EBG-
RRT), several sampling-based re-planning approaches with
a high success rate, is presented. An effective and optimum
Waypoint Cache (EOWC) technique is developed to leverage
prospective cache information and select the best way to fix
to solve the drawback of the Waypoint Cache approach. The
EBGRRT technique is finally tested on ROS using the Aubo-
i5 manipulator. The EBG-RRT method is outscored in both
steady and transient conditions, according to simulation find-
ings. Wang et al. [2] proposed a broad autonomous optimal
path of node control (NC-RRT) based on the RRT algorithm’s
architectural design. First, a technique for progressively alter-
ing the sample area is suggested to direct exploration and
hence significantly increase search speed. The node control
technique is further implemented to limit the tree’s expanded
nodes, hence reducing the expansion of unwanted nodes
and extracting nodes near the boundary. Results show that
the approach drastically lowers incorrect configuration space
exploration and significantly boosts planning effectiveness.
Wei et al. [3] aims to create a robotic manipulator using a
search algorithm autonomous obstacle elimination dynamic
path-planning technique. This method, which focuses on
a directed node, may considerably improve the sampling
velocity and efficiency of RRT. Zhang et al. [4] determined
a rapidly exploring random tree algorithm-based predictive
path planning method for mobile robots in unpredictable situ-
ations. Based on the presumption that the global approximate
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International Journal on Interactive Design and Manufacturing (IJIDeM)
optimal path has already been found, this algorithm intro-
duces a simple movement estimation about the mobile robot
as well as the dynamic obstacles as per their speeds and then
re-plans the path against the lively obstacles, which tends to
increase the search speed of re-planning, reduces the path cost
and the likelihood of a collision, and enhances the efficacy of
the re-planning path. Jiankun Wang et al. [5] proposed that
by using an elastic band-based rapidly exploring random tree
(EB-RRT) technique, real-time optimal motion planning for
a mobile robot in a challenging environment is made possi-
ble. The global planner uses a time-based RRT algorithm to
create a suitable predictive trajectory for a specific task in the
dynamic environment.
Liu et al. [6] have recommended employing a sampling
method based on dynamic probability to prevent the robot
from hitting a threshold during the sample phase. Finally,
the original route is improved to make it easier for the robot
to navigate. And the findings demonstrate that an enhanced
RRT algorithm speeds up the planning of the path, short-
ens the size of the path, and produces smoother, more suited
movement for a real robot. Yijing Li [7] proposed that the
non-holonomic robot in a dynamic environment is developed
for the real-time RRT-based path planning technique. The
method also has a straightforward temporary target determi-
nation function, which guarantees its viability when the target
is unknown. The absence of real-time computation is made
simpler by moveable hurdle segmentation, velocity estima-
tion, and original route replanning. Seif et al. [8] proposed
the RRT* method relies on incremental sampling to quickly
cover the whole space. This approach may be employed in
multidimensional situations since it is computationally effi-
cient. The findings show that this approach may be used to
quickly find a viable route for a mobile holonomic robot.
Perez-Higueras et al. [9] proposed a system for plan-
ning routes for ground robot exploration and navigation in
unstructured and complex environments. The primary sen-
sory input is made up of (unordered) point clouds, but no
explicit representation of the world is created from them.
An optimal-RRT planner uses these 3D locations as space
samples to calculate safe and effective pathways. As it uses
an objective function to create routes and exhibits natural
exploratory behaviour, the RRT planner is appropriate for
the tasks. Eshtehardian et al. [10] have suggested that, for
smoothing the route produced by the RRT* algorithm, well-
known families of artificial intelligence algorithms, a method
of fusion of RRT* and B-splines. The result of the RRT*
algorithm includes a few additional functions. Some changes
are also made to prevent collisions in the generated route.
Wang et al. [11] have proposed that to concurrently meet the
field-of-view restriction and the velocity constraints while
moving toward the target posture, RRT based visual servo-
ing strategy is suggested for nonholonomic mobile robots.
The two components of the proposed technique are Scaled
International Journal on Interactive Design and Manufacturing (IJIDeM)
Euclidean space trajectory planning and tracking control.
A novel virtual-goal-guided RRT method is created for the
trajectory planning phase to ensure the velocity and FOV
restrictions by repeatedly exploring the rescaled Euclidean
space while the picture depth is uncertain.
Ganesan et al. [7] proposed a directional RRT* algorithm.
The aim of this is to minimize the sample space. The recom-
mended approach achieves this by focusing on the direction
of the objective from the initial configuration and using a
simple elliptical heuristic that is formed between them. In the
two crowded settings taken into consideration, the suggested
D-RRT*’s convergence rate RRT* by 8.5% and 14.7%,
respectively. Nichols et al. [12] suggested a new planning
method called Adversarial RRT*. This uses an anticipated
measure of deception as part of the planner cost function to
try to trick machine learning classifiers. Ma et al. [13] sug-
gested a risk-based algorithm called bidirectional Risk-RRT
that uses a two-way search sampling method (Bi-Risk-RRT).
Additionally, Bi-Risk-RRT avoids TBVP and keeps the ben-
efits of the two-way search sampling technique by employing
the opposite direction as a heuristic. Wu et al. [14], proposed
that, to quickly locate a route that is close to optimum, the
Fast-RRT method. Improved RRT and Fast-Optimal are two
of the modules that make up the Fast-RRT algorithm. Thejus
Pathmakumar et al. [15] proposed this study, a novel tech-
nique for cleaning auditing robots to collect dirt samples.
This work presents a first-of-its-kind dirt sample-gathering
strategy for cleaning auditing robots by combining geometri-
cal feature extraction and swarm algorithms. Hao et al. [16],
proposed two environmental route planning kinds based on
designated charging points and various charging stations is
proposed.
Joon and Kowal [17] mentioned that the design and
development of a cleaning robot employing adaptive man-
ufacturing technology are discussed in this study, along with
how it is used with a control algorithm whose stability has
been shown. Asafa et al. [18], describe the creation of a
portable and effective vacuum cleaning robot for possible
application in homes and offices. The created robot has a
disk-like form, is outfitted with cleaning and vacuuming
technologies, and is managed by an Arduino Mega micro-
controller. With this feature, the appliance may be used
both at home and in the office, making cleaning a com-
pletely autonomous task. Yakoubi and Laskri [19] proposed
an evolutionary technique to address the path planning of the
coverage region (PPCR) problem in a room context. The lat-
ter works on genetic algorithms (GA), which require several
stages to provide the answers. The outcomes of simulation
and comparative studies show that this suggested strategy is
successful and efficient.
Zhao and Zhang [20] proposed that an eight-in-wheel
motor-independent drive electric vehicle is presented, includ-
ing an electronic stability control (ESC) based on torque
distribution. As compared to direct yaw moment control
(DYC), simulation results from a hardware-in-the-loop (HIL)
simulation platform show that the ESC based on the improved
allocation provided for the model provides greater stability
performance. Kulikov and Bicke [21] describe the creation of
a portable and effective vacuum cleaning robot for possible
application in homes and offices. Douglas Vail and Manuela
Veloso [22] mentioned that accelerometer is used to identify
the particular environmental situation. This sensor is used in
AIBO robot, here a surface detector that recognize the sur-
face where the robot is currently located. This research is
used a KNN with labelled accelerometer data for prediction
of velocity without much manual calibrations.
Singh et al. [23] has been introduced a new caster walker
gait trainer method for rehabilitation. This technique is an
effective gripper-based device that used a linkage mecha-
nism to minimize the kinematic movement. Loop by loop
method was introduced to optimize the six-bar linkage and
identified the trajectory developed by the synthesis mecha-
nism as similar to the required trajectory. Sarkhel et al. [24]
manufactured a flexible manipulator with a single link. The
simulation was carried out through Sim-Mechanics software.
The results established the huge vibration under different
load conditions. PID control was used to control these exces-
sive vibrations in the simulation. Mishra et al. [25] proposed
the path planning of humanoid robots using generative adver-
sarial networks (GANs). For Robot operating system-based
architecture a structured and précised path is created by using
GANs. Humanoid robots have to recognize the surroundings
and capable to produce footsteps precisely.
Rapidly exploring random tree (RRT) and A* is largely
used for path planning of large space and are not suitable
for narrow space. The accuracy of the robot achieved by
using GANs was 93%. Pathak et al. [26] proposed a Mamdani
fuzzy logic expert system model to measure the accuracy of
the prosthetic socket model. Face centred central composite
design was used to conduct the experiments. The confirma-
tion experiments reached an accuracy of 96.53% close to
the experiments. This fuzzy logic successfully estimates the
parameters used for surface reconstruction on computer file
size and surface accuracy. Pathak et al. [27] mentioned that
fuzzy logic and ANN will provide adequate solutions to non-
linear problems.
One effective way to address the above problems could
be the RRT navigation algorithm which is widely used in
large space capacity by designing and analysing the mobile
robot. This solution will be virtually simulated in a virtual
robot experimentation platform to minimize the path error
and the cycle time analysis of the mobile robot for cleaning
effectively and timely. This can also provide more stability
and use fuzzy logic to predict the mobile robot’s accelera-
tion accurately and also identify the best terrain that is best
suited for this mobile robot. To predict the velocity of the
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mobile robot accurately the labelled accelerometer was used
with the K-nearest neighbour technique. However, these pro-
posed systems based on machine learning techniques have
successfully avoided the problem of the mobile robot.
2 Robot path planning principle
In this exploration of robot path planning principles, will
delve into the core concepts and methodologies that empower
robots to navigate the world around them. Mobile robot
will examine the key challenges, algorithms, and techniques
that make path planning a dynamic and evolving field. This
introduction marks the beginning of a journey into the intri-
cate world of robot path planning, where we will unravel
the complexities and innovations that drive the capabili-
ties of autonomous systems. Robot path planning revolves
around the development of algorithms and strategies that
guide robots through intricate spaces while avoiding obsta-
cles and optimizing their routes. This fundamental principle
underpins the operation of autonomous robots, be they indus-
trial arms, mobile robots, or aerial drones, and plays a pivotal
role in ensuring their functionality and utility.
2.1 Rapidly exploring random tree (RRT) algorithm
The evaluation of the rapidly exploring random tree (RRT)-
based navigation system encompassed key metrics like path
planning efficiency, obstacle avoidance, and navigation accu-
racy. The system’s effectiveness was gauged by factors such
as the speed of path generation, the fluidity of robot motion
along the trajectory, and its adeptness at circumventing obsta-
cles while attaining the intended destination. Furthermore,
the precision of the robot’s positional tracking during move-
ment was analysed. The study focused on enhancing these
parameters to ensure streamlined path planning, seamless
maneuverability, and robust obstacle avoidance capabilities
for the autonomous mobile robot.
The start and goal positions and all the initial configura-
tions of the tree with the obstacles in the environment are
defined. To avoid obstacles, the tree starts to grow from both
the start node and the goal node. The distance of the target
node is calculated and accordingly, the path node is created.
If it reached the target node, then the algorithm stops, and
the path will be identified. If not, then new nodes are added
based on the Euclidean distance measurement, and this goes
on until the target node is reached. After reaching the target
node, the tree stops growing and the path from a start node to
the goal node is highlighted. The RRT exploration is shown
in Fig. 1.
The path of the robot is planned through the RRT navi-
gation algorithm. Rapidly exploring random trees (RRT) is
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International Journal on Interactive Design and Manufacturing (IJIDeM)
Fig. 1 Rapidly exploring random tree (RRT) exploration
a navigation algorithm, which is used to implement an opti-
mal path for the desired goal point for the given start point.
Sampling-based method is to finds an initial path very quickly
and then later continues to improve the route as sample counts
rise. It builds trees from both start and finish nodes. A path is
found when the two trees connect. The algorithm flowchart
is shown in Fig. 2.
This study provides a comprehensive explanation of
how the rapidly exploring random trees (RRT) algorithm
as depicted in Fig. 2 is specifically applied to achieve
autonomous navigation for mobile robots.
• Initialization: Start with the initial position as the root of
the tree.
• Expansion: Iteratively add nodes by sampling potential
states and connecting them to the nearest existing node.
• Collision checking: Ensure collision-free paths through
obstacle checking.
• Goal biasing: Occasionally bias sampling towards the goal
for efficient exploration.
• Path smoothing: Refine the path by removing unnecessary
waypoints.
• Trajectory generation: Translate path into a feasible robot
trajectory.
• Real-time adaptation: Adjust trajectory based on real-time
sensor feedback.
• Feedback control: Utilize control loops to regulate robot
motion.
2.2 The single node iteration of the algorithm
First, the start and goal points are defined and then the tree
starts to grow randomly from both the start and the goal
nodes with predefined node size and distance between nodes.
The node, which is near the initial node, identifies a target
node to be connected near the goal node. The nearest node is
found concerning the target node by calculating the distance
International Journal on Interactive Design and Manufacturing (IJIDeM)
Fig. 2 Flow chart of RRT
algorithm
between the other nodes and checking for collision and a
new node is added. Likewise, other nodes are added from the
parent node, i.e., its previous nodes, which are at a minimal
distance to the target node and the branch is extended. When
the target node is reached, a path is created, which is shown
in Fig. 3. Likewise, randomly creates other nodes and the
iteration continues for the given number of sample nodes.
When the sample points increase, the path will be optimized.
3 Proposed methodology
3.1 Design of robot
The design of the robot chassis is carried out in NX-CAD
software according to the required dimensions and the body
of the chassis is made as a 2D design and is extruded for
getting it as a thin sheet. Holes are made on the corners to
fit the wheels and to support the plate on the top. Wheels
are modelled for the given measurements, then the motor
brackets are modelled for fitting the motor and wheels in
the chassis body. Connecting rods are being designed for the
connection of the supporting plate. A geared DC Motor is
designed for actuating the mobile robot. The individual parts
are being assembled and an assembly of the mobile robot is
carried out which is portrayed in Fig. 4.
The software used for the simulation of the mobile robot
is discussed. There is three software used in the simula-
tion of the mobile robot. The car model was implemented
in the NX-CAD software and the proposed design is anal-
ysed using ANSYS software. The path planning is being
visualized in python. Spyder interface is used for code com-
pilation and debugging of python. The simulation of the robot
is performed in the virtual robot experimentation platform (V-
REP) in CoppeliaSim by Coppelia robotics. Vehicle speed is
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Fig. 3 Single node iteration of RRT algorithm

Fig. 4 Isometric view of mobile robot design and actual view of robot chassis

12.4407 km/h, and three degrees of freedom is proposed in x  Translation in x, y  Translation in y, ϕ-Rotation, u-
this model. Two translational motions and one rotation. Linear Velocity, w-Rotational Velocity

x  [(cosϕ ∗ u) − (asinϕ ∗ w) (2)

3.2 Direct kinematic model
y  [(sinϕ ∗ u) + (acosϕ ∗ w) (3)
The mobile robot model is four-wheel drive. It has three
degrees of freedom and is moved with four DC motors with
300 rpm and 1 motor was used in the cleaning pad with ϕ  [(0 ∗ u) + (1 ∗ w)  w (4)
100 rpm. The Robot is equipped with two infrared range
(IR) sensors, one in the front, and other is placed on its back. According to wheels rotation movement calculate the
The robot is moved by DC motors equipped with an optical robot position and orientation is known as forward kinemat-
encoder for each wheel (Fig. 5). The location (X, Y) and ori- ics. To obtain this created robot kinematic model of four
entation in a cartesian coordinate define the configuration of wheeled robot with combined drive system for all the four
the mobile robot. The following are some of the parameters wheels, but in order to simplify the kinematics calculation
for the kinematic model. this consider as two wheeled. This research has some limita-
tion that wheel can only move x and y plane and it has 3 DOF
⎡ ⎤ ⎡⎛ ⎞⎤ (Degree of Freedom). However not all of DOFs are control-
x cosϕ −asinϕ  
lable which means robot cannot move in every direction of
⎢ ⎥ ⎢⎜ ⎟⎥ u
⎣ y ⎦  ⎣⎝ sinϕ acosϕ ⎠⎦ (1) its local axes (e.g. it cannot move sideways). When amount
w
ϕ 0 1 of controllable DOFs is equal to total DOFs then a robot can

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Fig. 5 Mobile robot axis and chassis with accelerometer setup
be called holonomic. To achieve that mobile robots are con-
structed using macanum wheels having movement without
change their orientation.
3.3 Robot stability analysis
The robot’s stability (i.e.) the vibrations that occurs during
movement has been captured by using the accelerometer
sensor ADXL335 which is the crucial part of inertial mea-
surement units. Static or dynamic acceleration is measured
using an electromechanical accelerometer sensor. Axes are
specified in automotive implementations with reference to
the vehicle body frame. The origin of the vehicle reference
frame is the middle of the rear axle. The orientation of the
vehicle reference frame is such that:
• X-axis is on a horizontal plane, perpendicular to the plane
of symmetry of the vehicle, and it is oriented to the right.
• Y-axis is on a horizontal plane and faces forward.
• The X-axis and Y-axis are both horizontal because the
reference frame’s Z-axis is parallel to gravity. As a result,
the front axle may not always be where the Y-axis passes
through.
The device’s acceleration along the three sensor axes is
recorded via an accelerometer sensor. The physical accelera-
tion (change in velocity) as well as gravity are both factors in
the measured acceleration. The x, y, and z fields of the sen-
sor’s acceleration are used to report the measurement. The
acceleration of the device minus the force of gravity is mea-
sured along the three sensor axes, and all readings are in SI
units (m/s2 ).
Robot may be run in parallel, and each data point gen-
erates in around 30 s. Mobile robot stability is analysed by
using the internal dynamics using different terrain surface. It
is noticed from the behaviour of mobile robot unstable inter-
nal dynamics when robot is moving in the rough surface that
too in longer time travel with high velocity. Both simulation
and experimental results are condition that to check the anal-
ysis motion of the robot. Figure 6 represented the stability
of mobile robot in smooth and rough surfaces. X1, Y1 and
Z1 are the forward motion of the mobile robot in all three
directions whereas X2, Y2 and Z2 are the backward motion
of the mobile robot. The output readings are indicated that at
low velocity around 200 mm/s the large variations of the sta-
bility occur specified in blue colour for rough terrain. Due to
the cushioning effect the z direction variations are minimum
and represented in green colour leads to good comfort to the
vehicle.
3.4 Path visualization using python
The path planning is being visualized in python. Spyder inter-
face is used for code compilation and debugging of python.
The start and goal positions of the robot are defined and then
the obstacles are created for a definite shape and size. Rein-
forcement learning is used in the code for the identification
of the obstacles and not placing the nodes on them for the
tree to explore. The nodes explore as trees randomly through-
out the environment to find a path to the goal node from the
start node. Once a node reaches the goal point, the trees stop
exploring, and a path is created. A robot image is initialized
in the code, and it is defined for its coordinates in the display
screen and made to move throughout the path that is found.
3.4.1 Simulation of robot model
The robot designed is being simulated in the CoppeliaSim
by the following steps below.
• A new scene is created from the file menu.
• The robot model designed is being loaded in the simulation
environment.
• The robot model is aligned with the environment.
• The child script is created the defining the robot and obsta-
cles.
• The obstacles are being created in the environment and fix
them in the environment.
• Create a start and a goal dummy at the start and the goal
positions.
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a)Robot stability anlysis-Smooth surface

450
400
350
Velocity(mm/sec)

300
250
200
150
100
50
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Time(sec)

X1 Y1 Z1 X2 Y2 Z2

b)Robot stability analysis-Rough surface

500
450
Velocity(mm/sec)

400
350
300
250
200
150
100
50
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35
Time(Sec)

X1 Y1 Z1 X2 Y2 Z2

Fig. 6 Robot stability analysis in smooth and rough surface

• Plan the path and select the robot constraints.
• Enter the parameters such as the minimum turning radius
required for the simulation in the dialog box.
• Create the logic for the path and compute it.
• Creates a path by avoiding obstacles.
• Now the environment is defined, and the possible paths are
shown in the environment.
• The red-colored paths are dead ones, and the blue-colored
ones are possible paths, the robot moves in the path that is
highlighted.
• When played, the robot starts to navigate.
The environmental setup of the virtual experimentation is
shown in Fig. 7 and the path that is suitable and optimal for
the robot to reach the goal is identified.
As the virtual robot experimentation platform (V-REP)
demonstrates, this gives a small footprint 3D robot simulator
that concurrently simulates control, actuation, sensing and
monitoring. It’s distributed and modular approach are ideal
for complex scenarios in which a diversity of sensors and
actuators operate asynchronously with various rates and char-
acteristics. This allows for versatile prototyping applications
including systems verification, safety/remote monitoring,
rapid algorithm development, and factory cleaning automa-
tion simulation.
3.5 Stability of robot model-electronic stability
control
In modern automobiles, an electronic stability control (ESC)
system is controlled by yaw stability control (YSC). Even

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Fig. 7 Environment setup and paths created (left) and path planned (right)

when the vehicle is operating at its maximum traction, YSC software enables detailed exploration and implementation
aids the driver in maintaining the correct heading. By deliv- of the robot’s stability, allowing for comprehensive study
ering braking pressure to certain wheels, the ESC system and evaluation. Figure 8 serves as a visual aid, aiding in
aids in maintaining the stability of the car. Generally, sys- the visualization and comprehension of the intricate stability
tems comprise of wheel speed sensors, yaw rate sensors, mechanisms integrated into the robot’s design.
lateral acceleration sensors and an angle sensor for the steer-
ing wheel. The ESC system determines the vehicle direction
in YSC mode using sensor speed and steering angle data.
The radius of the track the vehicle drives along is determined
4 Results and discussions
using the recorded lateral acceleration and vehicle speed.
4.1 Path visualization
Even when the car exceeds attraction restrictions, YSC assists
the driver in keeping the intended direction. The radius of
The RRT path planning is visualized in python by randomly
the track the vehicle drives along is determined using the
creating and positioning the obstacles of defined size and
recorded lateral acceleration and vehicle speed. Even when
creating the random tree from the initial position to the final
the car exceeds attraction restrictions, YSC assists the driver
position, the nodes which first extend and connects the goal
in keeping the intended direction. The radius of the route the
node, it is generated as a path. Then the path is highlighted.
vehicle is going along is determined using the recorded lateral
The path generated is shown in Figs. 9 and 10. Here, the
acceleration and the vehicle’s speed. The right yaw rate for a
red circle denotes the starting node, whereas the green circle
vehicle driving along that path is then determined using the
denotes the goal node, and the yellow line highlights the path
radius and the vehicle’s speed. The on-board yaw rate sensor
of the robot that is planned for the defined points by avoiding
determines the actual yaw rate and serves as a teach point.
obstacles.
After comparing the recorded and calculated yaw levels, ESC
will employ differential braking to produce a corrective yaw
moment if the discrepancy exceeds a certain threshold. The 4.2 Analysis of design
stability of the robot model can be controlled by implement-
ing the stability control parameters which affect the robot The design analysis was conducted in ANSYS Workbench,
movement through simulation. The simulation of the elec- considering the material properties of the components. The
tronic stability control system is shown in Fig. 8. The model analysis focused on the clamp design and the chassis plate
is developed based on the algorithm and the ASCET code under an applied load of 150N. The results were evaluated,
is implemented in Robot. In this model, the input is the car taking into account the material properties, and included
velocity, pivot distance of the car, and yaw rate value based assessments of directional deformation, total deformation
on the steering. of the clamp, and total deformation of the chassis plate (as
The graphical representation was generated using ASCET shown in Fig. 11).The material properties, such as tensile
software, a versatile tool commonly employed for research strength, elasticity, and other relevant properties, were con-
and analysis in the field of robotics and control systems. This sidered in the analysis to ensure the accuracy of the results.

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Fig. 8 Simulation of electronic stability control system
Fig. 9 Exploration of the random tree in different environment
The analysis revealed that the robot can withstand a maxi-
mum load of 100N.
The bottom face of the mobile robot chassis is fixed as
boundary conditions meaning it is held stationary, while
the mobile robot applies force to the top linear surface of
the rectangular part as portrayed in Fig. 11. To conduct the
FEA, the material of the rectangle block is specified as a
“general aluminum alloy” sourced from the Ansys material
database. This choice of material is crucial because it affects
the mechanical behavior and response of the stiffness when
moving in the rough terrain. The properties of the chosen
material are likely well-documented, including parameters
such as Young’s modulus, density, and Poisson’s ratio. In
FEA, mesh geometry involves breaking down a complex
object into smaller, interconnected elements like triangles
or quadrilaterals in 2D analysis. Here triangular mesh size
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International Journal on Interactive Design and Manufacturing (IJIDeM)
is used as portrayed in the figure. The mesh geometry is a
numerical representation of the physical object, and it plays a
fundamental role in solving the mathematical equations that
govern the behavior of the structure. The mesh size of 0.6 mm
parameters are determined based on the specific requirements
of the analysis. Smaller elements can capture local details
and variations in stress or deformation. The FEA process
involves applying known physical principles and numerical
methods to simulate the interaction between the robot chassis
and floor. This includes calculating stress, strain, and defor-
mation in the mobile robot.
4.3 Simulation of mobile robot path planning
Prior to writing and running code on actual robotic systems,
it is right approach to employ computer-based simulations
International Journal on Interactive Design and Manufacturing (IJIDeM)
Fig. 10 Robot movement visualization
Fig. 11 Directional deformation of clamp (a), total deformation of clamp (b) and total deformation of chassis plate(c)
when creating new robot designs and algorithms. Simulation
technologies are increasingly being utilized to simulate the
realistic movements of 3D robot models in a variety of vir-
tual environments as robots and related software grow more
dynamically capable and complicated. The mobile robot is
simulated in the CoppeliaSim, and the robot’s motion is dis-
played. As discussed in the methodology, the environment is
set up by defining the obstacles, path, and robot constraints
such as speed, minimum turning radius, etc., and environ-
mental parameters such as coordinates, and then it is played.
The simulation of the robot is shown in Fig. 12.
The robot is simulated for a defined distance, at different
speeds and the time taken for the completion of a path is
recorded. A graph is plotted for the speed of the mobile robot
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Fig. 12 Simulation windows of the robot

Analysis of Mobile robot 4.4 Stability control of mobile robot

80
By implementing the stability control, the robot may be sta-
Time taken for travel (Sec)

70
ble while in motion. The results from the implementation of
60
stability control are as follows. The robot velocity and wheel
50
velocity are shown in Fig. 14. Robot movement along the
40 x-axis and velocity along the y-axis; the blue line shows the
30 speed of the car over a predetermined period of time, while
20 the red line shows the speed of the wheel. The steering angle
10 value is based on the turning direction. If it is turning left,
0 the steering angle is assumed in negative value. If it is turn-
0 50 100 150 200 250 300 350 ing in right, the steering angle is assumed in positive value.
Speed of the mobile robot (mm/s) Based on the turning direction, the expected angular veloc-
ity is calculated. The car is turning in the left direction; the
Fig. 13 Analysis of mobile robot for different speed
expected angular velocity is taken as a negative value. If it is
turning in right, the expected angular velocity is taken as a
positive value. Once the expected angular velocity is calcu-
vs time taken for travel of the mobile robot as shown in Fig. 13
lated. Robot movement along the x-axis and yaw rate along
and found that the speed is inversely proportional to time,
the y-axis, we can compare the expected angular velocity
and when the speed of the robot increases, the time taken for
with the yaw rate value from the yaw rate sensor is shown
reaching the goal is reduced and vice versa.

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International Journal on Interactive Design and Manufacturing (IJIDeM)
Fig. 14 Car velocity vs wheel velocity (left) and actual yaw rate vs calculated yaw rate (right)
Fig. 15 Steering status
in Fig. 14. The blue line symbolizes for the actual yaw rate
from the sensor; the red line represents the calculated yaw
rate values.
If the yaw rate is greater, the vehicle is oversteering.
The robot is understeering if the yaw rate is lower than the
anticipated angular velocity. Figure 15 depicts the steering
situation with the robot’s displacement along the x-axis and
pulse width modulation along the y-axis. The oversteering is
indicated by 0 and the understeering is indicated by 1. Based
on the understeering or oversteering condition, the brake is
applied to the respective wheels to move the vehicle in the
intended path. Thus, the stability control of the vehicle is
achieved.
4.5 Fuzzy logic analysis for mobile robot control
The integration of fuzzy logic analysis in the navigation sys-
tem enhances its robustness by handling uncertainties and
imprecise inputs. Fuzzy logic, a computational framework
inspired by human decision-making, accommodates vague
information through membership functions. These functions
allow the system to process sensor readings affected by
noise or environmental conditions, making informed deci-
sions even with imperfect data. Fuzzy logic translates inputs
like robot speed and distance into linguistic terms, which
are then mapped to fuzzy sets and controlled by rules. The
system’s adaptability and robustness stem from its ability
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Fig. 16 Method of conventional
fuzzy control system on mobile
robot
to navigate effectively despite varying or uncertain condi-
tions. By employing fuzzy logic, the navigation system gains
the capacity to manage conflicting or ambiguous informa-
tion. It employs membership functions to assign degrees of
truth to linguistic variables, providing a nuanced approach to
decision-making. This inherent flexibility enables the system
to react intelligently to changing situations, making it partic-
ularly useful for autonomous navigation where inputs can be
influenced by factors such as sensor noise, terrain irregular-
ities, or unforeseen obstacles. The integration of fuzzy logic
transforms the navigation system into a reliable and versatile
tool, capable of making confident and accurate decisions in
complex and unpredictable environments.
The mobile robot is used to move in the different terrain for
various applications like cleaning, rescue, object detection,
warehouse, etc. To achieve the precise control of the robot
movement the fuzzy logic control approach has been chosen
as depicted in Fig. 16. To identify the current location terrain
of the robot the fuzzy expert system was used to predict the
robot acceleration and identify the live spot of the robot. The
fuzzy logic control does not require the mathematical model
of the controlled mobile robot process. The input triangular
membership functions are mobile robot speed and distance
travel all around the environment and the output triangular
membership function was Robot acceleration on the smooth
and rough surface.
The most commonly used membership functions in fuzzy
logic system consist of triangular, trapezoidal and Gaussian
function. For autonomous mobile robot navigations trian-
gular functions are commonly used [28]. The reason is
triangular membership function is easy and uncomplicated
and simple to understand, appeal and have adequate control-
lability. This requires only minimum three level and used two
parameters. Triangular function is simple execution method
and need only easy numerical and logical function to attain.
Their difficulty of computation is easy, and calculation speed
is fast and making them fit for actual in process system.
Therefore, chosen the commonly used triangular MFs.
These studies come up with a fuzzy logic method as a
solution to predict the robot’s current terrain based on the
accelerometer readings. The main formation of a fuzzy con-
troller consists of 3 blocks fuzzification, inference engine,
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International Journal on Interactive Design and Manufacturing (IJIDeM)
and defuzzification. The actual input values are converted to
the membership function. The fuzzy rule is created based on
the robot experts and fuzzy experts and no rule was framed
based on the stability of the robot. The robot speed was taken
based on the mobile robot capacity is S  {Low, Medium,
High} where Low speed means 100 mm/s and High speed
means 300 mm/s. The range of triangular membership func-
tion of robot speed, robot distance travel, and output function
of smooth surface acceleration is depicted in Fig. 17. The
acceleration of mobile robot is varied from {Very small,
small, Medium, Big, and Very big}.
The triangular membership function of robot travel dis-
tance (m) in the equation form is
11 − x
d1(x)  , x ∈ (2, 11) (5)
9

(x−20)
d2(x)  9 , x ∈ (2, 11)&x ∈ (11, 20) (6)
(11−x)
9
x − 20
d3(x)  , x ∈ (11, 20) (7)
9
To predict the robot’s acceleration based on the terrain the
fuzzy rule bank was framed based on the expert’s knowl-
edge. The number of rules is framed according to different
conditions of the surfaces. In these experiments two input
parameters are used with three different conditions thus 9
rules are framed as depicted in Table 1.
The fuzzy rule viewer depicted in Fig. 18 gives an
overview of the relation between input and output variables.
Through this, the predictions can be obtained by manually
changing the values of input variables and getting a crisp
output using the centroid method. Yellow colours are rep-
resented as input rules triggered while executing the fuzzy
logic and blue colours are represented as output functions
rules triggered while operating the mobile robot.
Figure 19 portrayed the comparison of smooth surfaces
and rough surfaces the mobile robot predicted fuzzy logic
analysis of acceleration. It is observed that initially at a low-
speed robot acceleration is less and at the same time smooth
surface speed is a little faster. If the speed is increased to high
speed, then the acceleration of the robot is increased due to
International Journal on Interactive Design and Manufacturing (IJIDeM)
Fig. 17 Input triangular membership function of robot speed (a), robot distance travel (b) and output membership function of smooth surface
acceleration (c)
Fig. 18 Fuzzy rule viewer
the gripping action of the wheel as well as the terrain nature.
It is noticed that if the acceleration of the robot is high at a
long travel distance with high speed.
3D surface plots were produced as portrayed in Fig. 20,
and fuzzy logic output predictions of surface acceleration
using smooth and rough terrain. A robot moving in a straight
line is accelerated if it speeds up or slows down. The orien-
tation of a robot’s acceleration is given by the orientation of
the net force acting on that mobile robot. Here on a smooth
surface, the maximum net force i.e., Acceleration occurs is
420 mm/s2 whereas the rough surface is 450 mm/s2 . The
maximum robot acceleration was achieved at the high speed
of the robot as well as long-distance travel. The maximum is
represented in larger yellow colour near the high-speed indi-
cating a faster reaching the designation with less cycle time
also good stability was achieved in the mobile robot.
Figure 21 portrayed the acceleration induced on the
mobile robot concerning robot speed. If the speed is
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Fig. 19 Comparison of optimized

Mobile Robot Vibration-Fuzzy Predictions

Robot Acceleration(mm/sec2)
fuzzy prediction for smooth and
rough terrains 500
400
300
200
100
0
1 2 3 4 5 6 7 8 9
No of Trials

Smooth Surface Rough Surface

Fig. 20 3D surface plot fuzzy logic prediction of acceleration of different surfaces

Fig. 21 Effect of root speed with acceleration for smooth surface

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Table 1 Fuzzy rule bank for robot acceleration classification the Euclidean distance formula is used.
Mobile robot Robot distance Smooth surface
speed(mm/s) travel(m) acceleration(mm/s2 ) 
V  (x1 − x2)2 + (y1 − y2)2 (8)
Low Low Very small
Low Medium Small
Low High Small
Here, V  Velocity of mobile robot mm/s, x  Robot
Medium Low Medium
speed (mm/s), y  Robot distance travel (m).
Medium Medium Medium Figure 22 portrayed the error rate of K-Nearest Neighbors
Medium High Big (KNN) classification model. It is observed that more error
High Low Big rate of above 0.60 up to the k value of 22 if the k value is in
High Medium Very big between 35 and 40 is getting the lowest KNN error rate. As
High High Very big these are fixed as best optimum global minimum error rate, it
is desirable to make use of larger value of k. This is because
when using higher value of k, the model will use large data
increased slowly the acceleration induced on the robot actu- points that are generated the velocity from accelerometer
ator also increased concerning surface characteristics. After while moving the mobile robot. Error rate graph it can be
the robot’s speed reached the middle of 200 mm/s then there seen that error decreases for increasing value of K, also error
is a variation in the acceleration and due to the surface irregu- is minimum for K  35. This is because the closest point
larities after that robot maintained the stability with a steady to any training data point is itself. Hence the prediction is
state level due to the robot studying the surface terrain with always accurate with K  35 to K  40 that executed greatest
the expert system so that able to maintain the stability. at predicting the velocities of mobile robot motion in the
database will also work well for predicting the velocity of
4.6 K-nearest neighbors (KNN) algorithm for mobile robot.
robot prediction In Fig. 23 shows the K-nearest neighbors (KNN) model
which has classified the accelerometer velocity data into
Surface identification is a one of the classification problem rough surface and smooth surface terrain based on the thresh-
during the rescue and cleaning operations. During the move- old value. Where as in image, the yellow ones indicate the
ment of robot likely to find the surface under which it’s rough surface velocity data points and the blue ones indicates
moving based on the accelerometer data. We need to know that the smooth surface data points. To classify the smooth
the robot movement on surfaces earlier to label them for and rough surface terrain where currently robot is landed,
that supervised learning is used. K-nearest neighbour (KNN) the K-nearest neighbour (KNN) is used which is powerful
proceed towards with a library of labelled accelerometer sim- classification model. The figure represents more amount of
ulation and actual experimentally obtained data for velocity velocity variations when compared with smooth surface.
prediction of mobile robot. Integrating the sensor into the Performance of classifier is measured by calculating the
mobile robot will not give accurate data due to the noisy accuracy of model using confusion matrix. The accuracy
signal. This encourages to use the k-nearest neighbour’s algo- (AC) is calculated by the ratio of actual predicted samples
rithm [22]. to the total samples of mobile robot datasets. The system
The velocity prognosis on a four wheeled mobile robot accuracy can be tested from the confusion matrix as depicted
from accelerometer sensor data is strenuous. Directly con- in Table 2. Confusion Matrix is a machine learning methods
necting the sensor reading will not give accurate information. which aids in finding most important parameters. It is explic-
The sensor signal is too noisy thus integrating accelerometer itly shown that accuracy gets improved when KNN technique
does not give valuable evaluation of velocity. This problem was applied.
is overcome by using machine learning technique of KNN.
KNN algorithm is one of the uncomplicated classification
and it is used to find the data points that are separated into 4.7 Mapping of mobile robot ROS environment
several classes to identify the classification of a new sample
point based on similarity measure of velocity function. Here The robot is moved in a sample environment with predefined
K is called the number of neighbours to be considered and mapping. Figure 24 displays the visualization of the environ-
small number of K leads to low bias and high variance and ment mapping, with the boundary and obstacles represented
this will works very well with less number of input variables by red colour and the yellow colour indicating the robot’s
of mobile robot. This work to identify the nearest value for position.

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Fig. 22 Error rate of K-nearest

neighbors predictions with
respect to K

Fig. 23 K-nearest neighbors model classification graph for rough and smooth terrain

4.8 Robot motion 4.9 Cleaned path

The robot’s movement is controlled within a predetermined
environment through the implementation of the proposed
RRT navigation algorithm. The accompanying figures in
Fig. 25 illustrate the robot’s trajectory from its designated
starting point to its endpoint.
The cleaning process of the robot was executed in a test envi-
ronment, and the resulting path of the cleaning procedure
has been captured and displayed as an image. The image in
Fig. 26 represents a straight path taken by the robot during
its cleaning process, highlighting the areas that have been
cleaned. This serves as a visual representation of the effec-
tiveness of the cleaning process and helps in evaluating the
performance of the robot.

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Table 2 Performance evaluation

metrics for mobile robot velocity Classifier-rough surface terrain Performance factor Values Confusion matrix
dataset ⎢ ⎥
KNN Precision 0.71 ⎢ ⎥
⎢4 2 0⎥
⎢ ⎥
Accuracy (%) 86% ⎢0 5 0⎥
⎣ ⎦
Recall (%) 100% 026
F1-score (%) 83%
Support 5

Classifier-smooth surface terrain Performance factor Values Confusion matrix

⎢ ⎥
KNN Precision 1.00 ⎢ ⎥
⎢6 1 0⎥
⎢ ⎥
Accuracy (%) 87% ⎢0 8 0⎥
⎣ ⎦
Recall (%) 67% 019
F1-score (%) 80%
Support 6

Fig. 24 a Obstacle environment b goal position c environment with ROS mapping

The first Fig. 26a represented the cleaning pad arrange-
ment with high torque DC motor. The cleaning pad is rotated
360° with the speed of maximum 300 mm/s and second
Fig. 26b portrayed the image enhancing application to visu-
alize the cleaned path much more clearly when compared to
before cleaning surfaces.
4.9.1 Cycle time analysis
The robot is deployed to clean a surface area of approximately
12 square feet with a horizontal motion along the length and
breadth of the area, and one vertical motion across the height
of the area, thus covering the entire surface. During this pro-
cess, the time taken by the robot to navigate and clean the
entire surface is recorded and analyzed to calculate the cycle
time, which helps in determining the efficiency and effective-
ness of the cleaning operation. The data related to the duration
and velocity of the robot’s task is presented in Fig. 27. The
robot speed was taken based on the mobile robot capacity is S
 {Low, Medium, High} where Low speed means 100 mm/s
and High speed means 300 mm/s The Figure illustrate to ana-
lyze the performance of the robot in completing the assigned
task. By examining the performance speed of the robot it can
be determined the efficiency of the robot’s movements and
how it can be improved in future iterations.
After analysing the results, it can be inferred that the robot
performs optimally at 60% of its maximum speed, exhibit-
ing an ideal balance between cleaning effectiveness and time
taken. The cleaning process is found to be highly effective
in terms of removing debris and dirt from the surface. More-
over, the time taken by the robot to complete the cleaning
process is deemed satisfactory, indicating its efficiency and
effectiveness in real-world applications.
4.9.2 Surveillance application of mobile robot
The robot has been integrated with the ESP-CAM module
which is capable of object detection and surveillance. The
ESP-CAM module is trained to capture and name objects
and can automatically identify them when it runs. The camera
output is then displayed on a webpage for remote access and
monitoring. To further facilitate the remote operation of the
robot, an HTML page is created shown in Fig. 28 that allows
users to control the robot’s motion and camera angles through

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Fig. 25 Robot motion in defined environment

Fig. 26 a Cleaning pad setup and water dispense system b before and after cleaning the surface using mobile robot

Fig. 27 Cycle time analysis of

mobile robot
Cycle time Analysis-Mobile Robot
300

250
Time taken(Seconds)

200

150
Time taken(Sec)
100

50

0
0 20 40 60 80 100 120
Speed of the Robot(%)

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Fig. 28 Real time monitoring of mobile robot
their mobile phones or PCs. This HTML page also displays
the camera output for real-time monitoring. The ESP-CAM
module ensures that the robot can operate effectively in var-
ious environments and can provide advanced surveillance
and security features. Additionally, the ability to remotely
operate the robot and view the camera output on a webpage
enhances the user’s convenience and control over the robot’s
movements.
Fig. 29 Identification of object
detection using camera module
4.9.3 Object detection application using mobile robot
The ESP32 camera module is trained with a set of four
images, and when an object is placed in front of the cam-
era, it detects those images to determine the object which is
shown in Fig. 29. Moreover, with extensive database training,
the robot can be utilized as an efficient surveillance system.
The camera is capable of recognizing a wide range of objects,
making it an ideal tool for security and surveillance purposes.
The robot is also able to analyze and interpret the informa-
tion from the captured images to provide valuable insights
that can be used to improve security measures. By continu-
ously training the camera with more images, the accuracy of
object detection can be further improved, making the robot
even more effective in identifying and tracking objects.
5 Conclusions
The RRT based mobile robot was designed and analysed
the path flow navigation movement using Fuzzy logic expert
system for cleaning and unmanned vehicle purpose and the
following results were achieved:
(1) Surface Identification: The robot distinguishes smooth
and rough terrains based on accelerometer data, with
a maximum net force of 420 mm/s2 for smooth and
450 mm/s2 for rough surfaces.
123

(2) For the navigation of the robot, the RRT navigation algo-
rithm is preferred, and it is visualized the path of the
robot that is planned for the defined points by avoid-
ing the obstacles to reach the designation in the shortest
optimized path.
(3) The robot is simulated in CoppeliaSim virtual robot
experimentation platform, and the motion of the robot
in the defined environment is achieved by varying the
velocity of the robot, the travel duration for the robot to
achieve the goal is calculated and the results are found.
(4) Stability Enhancement: A proposed stability control
model enhances robot stability, promising real-world
implementation benefits.
(5) The fuzzy logic analysis is used to predict the mobile
robot acceleration and determine which terrain is most
suitable for the robot to move to its destination in the
unmanned environment.
(6) Velocity Prediction: K-nearest neighbors (KNN)
method predicts velocity with accuracy (K  35 to K 
40) using accelerometer data.
(7) The robot’s efficient behaviour is simulated in a prac-
tical environment, and its motion is accomplished by
altering its velocity within the predetermined environ-
ment. The duration of travel required for the robot to
achieve its objective is calculated, and the findings indi-
cate that operating the robot at 60% of its maximum
velocity results in optimal cleaning of the area within
an acceptable time frame.
(8) The robot can serve a dual purpose, as it is not only
capable of performing cleaning tasks but also has the
potential to be employed for surveillance purposes. By
utilizing the object detection technique integrated into
the robot, it can efficiently detect and recognize various
objects in its surroundings. This feature enhances the
versatility of the robot, making it valuable in areas that
require both cleaning and monitoring services.
5.1 Certain challenges and limitations associated
with the proposed approach
One significant challenge revolves around the intricate task
of fine-tuning algorithmic parameters, particularly within the
RRT navigation system. In response, I employed a method-
ical iterative process, harnessing real-world simulations to
systematically optimize these parameters, thereby enhancing
the system’s adaptability and overall performance. Further-
more, the inherent complexity that arises from integrating
multiple sensors and prediction techniques, which can poten-
tially introduce computational burdens and sensor noise,
impacting prediction accuracy. To address this, we employed
sensor fusion techniques and implemented filtering mecha-
nisms to refine sensor inputs, resulting in more dependable
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International Journal on Interactive Design and Manufacturing (IJIDeM)
and robust predictions. Moreover, the potential impact of
unforeseen environmental dynamics on prediction accuracy
is acknowledged. In light of this, the importance of continu-
ous system monitoring and real-time adjustments is needed.
By adeptly integrating feedback mechanisms and dynamic
recalibration, the proposed approach becomes resilient to
sudden environmental variations, bolstering the system’s
reliability and adaptability. In essence, we attuned to these
challenges and have strategically employed an array of
approaches, including iterative optimization, sensor fusion,
real-time adaptation, and meticulous algorithmic tuning, to
surmount obstacles and ensure the effectiveness and robust-
ness of the proposed approach.
5.2 Future research and improvements
The authors’ study suggests several promising directions for
future research and improvements. Firstly, they propose a
deeper exploration of the stability control model to enhance
robot motion stability and responsiveness. Additionally,
incorporating advanced machine learning techniques has the
potential to refine velocity predictions and introduce more
sophisticated navigation strategies. The fusion of multiple
sensors for comprehensive environmental perception could
further enhance the robot’s adaptability and decision-making
capabilities. Real-world implementation and validation of the
RRT-based navigation system across diverse scenarios could
provide valuable insights and optimizations. Energy-efficient
strategies, especially for prolonged robotic missions, could
also be a compelling avenue for further investigation. In
essence, the study offers exciting avenues to advance the
efficiency, autonomy, and versatility of robotic systems.
Acknowledgements The authors express their gratitude to the Robotics
Lab of the Mechanical Department at SRM Institute of Science and
Technology for providing technical support during the development of
the experimental mobile robot experiments and validation. Also thank
Bosch Global Software Technologies, Pvt, Ltd, Coimbatore for given
project technical support and Internship to the author.
Author contributions Study of design, development, and analysis of
RRT based autonomous mobile robot with KNN technique is performed
by [VC] and Fuzzy logic analysis is performed by [MU] and the first
draft of the manuscript was written and verified by [PS]. All authors
read and approved the final manuscript.
Funding Not applicable.
Data availability Not applicable.
Declarations
Conflict of interest The authors declare that they have no known com-
peting financial interests or personal relationships that could have
appeared to influence the work reported in this paper.
Ethical approval Not applicable.
International Journal on Interactive Design and Manufacturing (IJIDeM)

Consent to participate Not applicable.

Consent to publish Not applicable.

Appendix-1

Mobile robot path planning pseudo code

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Appendix-2
KNN classification for mobile robot velocity
prediction model

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