A novel obstacle avoidance control algorithm in a dynamic environment

摘要

This paper is concerned with obstacle avoidance control strategy of unicycle mobile robot in a dynamic environment. We propose a control algorithm based on collision cone approach to avoid collision with stationary obstacle. The algorithm is simple and easy to implement in the real world applications. The proposed algorithm is extended to the case of moving obstacle as well as irregular obstacle. The effectiveness of the proposed control algorithms are demonstrated through various simulations.