International Journal of Computer Science Trends and Technology (IJCST) – Volume 9 Issue 1, Jan-Feb 2021 ISSN: 2347-8578 www.ijcstjournal.org Page 33 Survey on Navigation Principles of Autonomous Mobile Robot Mohammed Hammoud [1] , Kinda Aboukassem [2] [1], [2] M.Sc., Department of Computer and Control Engineering, University of Tishreen - Syria ABSTRACT In recent times, the importance of mobile robot has increased rapidly. Accordingly, Navigation for mobile robot are in needed allow the robot to localize and move in free collision path with the least cost depend on application (time, energy). The objective of this paper is to present a state of the art survey of some techniques of localization and path planning for mobile robot. Localization techniques of mobile robot is made with explanation advantages, disadvantages and implementation for each of it. After that different path planning algorithms was explained. These study was developed in order to use some of these algorithms, in the near future, as a second stage after reducing the state space and demonstrate the extent to which of these algorithms are applied in stm32 microcontrollers embedded within the robots. Keywords: - MR, Autonomous mobile, Automated guided vehicles(AGV),Automated guided vehicles (AGV),Unmanned Aerial Vehicle(UAV), Autonomous Vehicle(AUV),Remote Operate Vehicle (ROV), Path planning, localization. I. INTRODUCTION Autonomous mobile robot -These are more autonomous robots, developed by optimizing sensors and providing intelligent robot control. The sensors are capable of perceiving the details of more complex situations, but to cope with these situations, the robot's behavior control must be extremely flexible and adaptive. II. NAVIGATION IN MOBILE ROBOTS Mobile robots often operate in an unknown and unstructured environment, and the robot needs to locate itself, plan a path to a goal, build and interpret a map of the environment, and then control its movement in that environment. Thus, the concept of navigation includes several tasks [2] as shown in the Fig. 1. Perception: the robot must interpret its sensors to extract meaningful data. Localization means that robot must determine its position in the environment. Cognition means that robot must decide how to act to achieve its goals. Motion control means that robot must modulate its motor outputs to achieve the desired trajectory[2]. Fig. 1 Disciplines of system systems A. SELF-LOCALIZATION Self-localization answers the robot's question, where am I? Relative to the map. The aim of the operation is to determine the location of the robot and its direction, for example, a ground-cleaning robot needs to know that it has covered the entire floor without repeating the cleaning process for the same place or losing its location (lost). The main difference between the operator and the mobile robot is the estimation of the location, in other words, the operator has a fixed base and by measuring the positions of the robot's joints and knowing its kinematic model can determine the position of the operator while the mobile robot moves as an integrated unit within the environment and there is no direct way to measure its position and direction. Hence, the general solution is to estimate the position and direction of the robot through velocity integration[8]. The map of the environment within which the robot will move may be predefined, and here the path of the robot is planned in advance. We have a relatively stable structure and robust operation is achieved (industrial applications). In the event that the planning of the path is dynamic so that the features of the surrounding environment are sensed, the robot first determines its location and then plans the movement through the areas available for movement, this type is suitable when the work space and tasks are frequently changing[8]. The techniques used[3][6] in localization are divided ,as shown as in Fig. 2. RESEARCH ARTICLE OPEN ACCESS