A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots
- 1 May 1992
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 10 (3) , 217-227
- https://doi.org/10.1017/s0263574700007955
Abstract
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
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