Local obstacle avoidance for synchro-drive mobile robot
Suk Hyung Jung, O Sang Kwon, Byung Soo Kim, Seung Hong Hong · 2003
The authors consider the problem faced by an indoor mobile robot that has to reach a given target by traveling through an unmapped region in a plane which contains obstacles. The robot must avoid static and dynamic obstacles of which the robot has no prior knowledge about the positions or size of them. The robot can acquires knowledge of obstacles only when obstacles are encountered and detected by ultrasonic sensors. Also, an indoor robot needs to be equipped with fast detection of obstacles and selection of steering commands algorithms to maximize the progress towards the goal location. The dynamics of the robot must be considered to make the generated commands more reliable.