A Novel Obstacle Avoidance and Navigation Method for Outdoor Mobile Robot Based on Laser Radar

摘要

A novel method named Angle Potential Field method is presented for obstacle avoidance and navigation of outdoor mobile robot.With the method,the 2-dimension obstacle information in the polar coordinate space of current view scene is transformed to the 1-dimension angle field.Repulsive forces produced by obstacles and attractive forces produced by the object location are estimated integratively to calculate the pass function and the purpose angle,and the controlling output of steering angle and velocity of the mobile robot are determined.As thus,both the safety of the robot and the(approach) to the object location are considered.The method has been applied to our outdoor mobile robot THMR-V.