Navigation of mobile robots with collision avoidance for moving obstacles

摘要

Abstract This paper presents a collision avoidance technique of mobile robots for moving obstacles in unknown environments. The mobile robot considered in this paper has a sensor measuring the distance between the robot and a moving obstacle, such as an ultrasonic sonar or infrared sensor. Avoidance behaviour for moving obstacles is proposed. The collision avoidance conditions for two typical aspects under which the robot encounters a moving obstacle are derived and are used as guidelines for designing the navigation parameters. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.