A biologically inspired method for robot navigation in a cluttered environment

摘要

SUMMARY The problem of wheeled mobile robot (WMR) navigation toward an unknown target in a cluttered environment has been considered. The biologically inspired navigation algorithm is the equiangular navigation guidance (ENG) law combined with a local obstacle avoidance technique. The collision avoidance technique uses a system of active sensors which provides the necessary information about obstacles in the vicinity of the robot. In order for the robot to avoid collision and bypass the enroute obstacles, the angle between the instantaneous moving direction of the robot and a reference point on the surface of the obstacle is kept constant. The performance of the navigation strategy is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robot.