31-03-2017, 11:11 AM
A real-time obstacle avoidance approach for mobile robots has been developed and implemented. It allows the detection of unknown obstacles simultaneously with the direction of the mobile robot to avoid collisions and advance towards the target. The novelty of this approach, called the virtual force field method, lies in the integration of two known concepts: certainty networks for the representation of obstacles and potential fields for navigation. This combination is particularly suitable for the accommodation of inaccurate sensor data, as well as for sensor fusion and enables continuous movement of the robot with stops against obstacles. This navigation algorithm also takes into account the dynamic behavior of a fast mobile robot and solves the local minimum trap problem. The experimental results of a mobile robot operating at a maximum speed of 0.78 m / s demonstrate the power of the algorithm.
