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A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots

Published online by Cambridge University Press:  09 March 2009

Huang Han-Pang  and
Lee Pei-Chien
Huang Han-Pang
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10764 (R.O.C.)
Lee Pei-Chien
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10764 (R.O.C.)
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Summary

A real-time obstacle avoidance algorithm is proposed for autonomous mobile robots. The algorithm is sensor-based and consists of a H-mode and T-mode. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. It will be shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm will guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small computational time, it can be implemented in real time.

Keywords

Mobile robotObstacle avoidanceNavigation
Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 217 - 227
Copyright
Copyright © Cambridge University Press 1992

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