Obstacle avoidance of a mobile robot using a hierarchical control

摘要

A new approach of obstacle avoidance of a mobile robot (autonomous vehicles) using a hierarchical control for navigation is proposed. It is based on the identification of the kinematics model of the mobile robot to determine the procedure of navigation in an unknown environment. Then, the information about the global goal and the long-range sensory data, with regards to the navigation environment, are used to guide the mobile robot to reach its sub-goal while avoiding collisions. The implementation results of this concept are presented confirming the effectiveness of the proposed control approach.