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Building Intelligent Navigation System for Mobile Robots Based on The SARSA Algorithm

This article presents the construction of an intelligent automatic navigation system for mobile robots in a flat environment with defined and unknown obstacles. The studies using programming tools are the operating system for mobile robots (Robot Operating System ROS). From updated information on maps, operating environment, robot control position, and obstacles (Simultaneous Localization and Mapping (SLAM)) to calculate the motion trajectory of the mobile robot. The navigation system calculates the global and local trajectory for the robot based on the application of SARSA algorithm. The results of simulation studies in the Gazebo environment and the experimental run on the real Turtlebot3 mobile robot showed the practical efficiency of automatic navigation for this mobile robot.