A.C.T.I.V.E. – Advanced Cybernetic Technology for Intervention, Versatility, and Exploration: Autonomous Navigation without LiDAR

Abstract: This paper presents the design and implementation of an autonomous industrial robotic platform capable of precise real-time localization and navigation without the use of expensive LiDAR sensors. The research introduces a novel "Local Pathing" algorithm based on Bézier curves to ensure smooth, continuous trajectory generation, offering a significant improvement over traditional "stop-and-turn" navigation methods. Key innovations include: Kinematics: Implementation of a Rocker-Bogie suspension system with 4-Wheel Steering (4WS) for rugged terrain traversal. Mechanical Optimization: A V-shaped suspension arm developed using Generative Design and validated via Finite Element Analysis (FEA) in Fusion 360, achieving a 98% reduction in deflection compared to initial prototypes. Control Systems: Integration of a custom PIDF controller loop for velocity management and an OpenCV-based computer vision module for real-time object detection and alignment. Note: This is a working draft currently in preparation for submission to a Q2 Scopus-indexed journal. Autonomous Navigation, Robotics, Bézier Curves, Local Pathing, Generative Design, Computer Vision, Industrial Rover, PID Control, Fusion 360.