A novel algorithm of autonomous obstacle-avoidance for mobile robot based on LIDAR data

摘要

Autonomous obstacle-avoidance is an important problem of mobile robot (MR) navigation, of which LIDAR is a kind of key equipment. A mobile robot can implement obstacle-avoidance behaviors with a specific algorithm based on LIDAR data. However, a mobile robot may encounter local minimum because of unexpected environment, and the algorithm only gets the suboptimal solution. Besides, it cannot avoid the current obstacles accurately due to measuring errors of LIDAR. To solve the problem, a novel integrated algorithm based on laser data is proposed in this paper. The simulation and experiment demonstrate that the integrated algorithm is feasible.