Study on the Effective Solution of Obstacle Avoidance Strategy for a Mobile Robot in the Guideline Navigation

  • Wang, Jiwu (Department of Electrical and Electronics Engineering, Oita University) ;
  • Sugisaka, Masanori (Department of Electrical and Electronics Engineering, Oita University, The Institute of Physical and Chemical Research (RIKEN) at Nagoya)
  • Published : 2005.06.02

Abstract

Obstacle avoidance is a basic skill to make a mobile robot move effectively and safely even in any arbitrarily given environment. Because of the difficulty of self-location caused by unavoidable slip and drift errors of sensors and effective detection of any encountered obstacle, only finite and simple obstacle avoidance strategies can be carried out. In this paper we mainly explored how to make a robot perform effectively obstacle detection and avoidance in the guideline navigation with one CCD video camera and some supersonic sensors. Making use of the specially designed guideline, the detection and calculation of the geometric dimensions of the encountered obstacle became simpler. And possible avoidance strategies appropriate to our navigation were studied and the simulations results were given.