Computational Study of DFMB Algorithm for Unmanned Vehicle in Static 2D Environment

In this paper, a Distance Function Modified Bug (DFMB) Algorithm with a random clockwise or anti-clockwise movement has been presented; offering optimum path length and less run time; which can be used for unmanned vehicle path tracking. Percent deviation in the run time of the algorithm has been compared with the other existing algorithms. In a static 2D environment where an obstacle is present; the traditional Bug approach is to first seek the shortest path from start to goal location and follow that path. If the path passes through any obstacle, then it starts wall following behaviour to find the shortest way to the goal. In our approach, we have introduced an improved distance calculation method with some newly developed parameters. The DFMB algorithm offers a smooth trajectory from source to goal location with obstacle avoidance in a given 2D environment without blindly following the boundary of the obstacle. Various simulation results and suitable comparative analysis have been presented to prove the superiority of the algorithm. We have done the effective realization of the algorithm, using MATLAB.