Modified Virtual Semi-Circle Approach for a Reactive Collision Avoidance of a Mobile Robot in an Outdoor Environment
R. N. Farah, N. Irwan, Raja Lailatul Zuraida, Amira Shahirah, Mohd Hanafi Omar · Applied Mechanics and Materials · 2014
There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed.