A reactive collision avoidance approach for mobile robot in dynamic environments

• Main Authors: Tang, Sai Hong, Ang, Chun Kit, Nakhaeinia, Danial, Karasfi, Babak, Motlagh, Omid Reza Esmaeili
• Format: Article
• Language: English
• Published: Engineering and Technology Publishing 2013
• Online Access: http://psasir.upm.edu.my/id/eprint/28861/1/A%20reactive%20collision%20avoidance%20approach%20for%20mobile%20robot%20in%20dynamic%20environments.pdf; http://psasir.upm.edu.my/id/eprint/28861/; http://www.joace.org/index.php?m=content&c=index&a=show&catid=27&id=72
• Institution: Universiti Putra Malaysia

This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles(VSC). The VSC approach lies in integration of 4 modules: division, evaluation, decision and motion generation. The VSC proposes a comprehensive obstacle avoidance approach for robust and reliable mobile robot navigation in cluttered, dense and complex unknown environments. The simulation result shows the feasibility and effectiveness of the proposed approach.