Obstacle avoidance control for nonholonomic mobile robots based on ultrasonic sensors

摘要

The development in path planning and the model of nonholonomic mobile robot were introduced.The architecture of ultrasonic sensors location was discussed in order to realize the obstacle avoidance for mobile robot.A control strategy based on ultrasonic sensors was presented.Obstacles in different directions were taken into consideration,especially standing out the obstacle in front.The experiment results verify the effectiveness of obstacle avoidance in the environment full of obstacles.