A novel obstacle avoidance and navigation method of outdoor mobile robot

摘要

This paper presents a novel method for obstacle avoidance and navigation of outdoor mobile robot, in which, 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 determine the pass function and the purpose angle. As thus, both the safety of the robot and the approach to the object location are considered. The method has been tested on our outdoor mobile robot THMR-V