An improvement approach based on linear navigation law for mobile robot
Zihui Zhang, Yueshan Xiong · 2012
An improvement approach based on the linear navigation law for mobile robot navigation is suggested. An obstacle is equivalent to a velocity vector when detected by a robot's sensory system according to the relative distant and relative direction between the robot and the obstacle. And then the vector sum of all obstacles' equivalent velocity vectors and the linear navigation velocity vector derived from the linear navigation law drives the robot to reach the desired goal position without colliding with an y obstacle in the robot's workspace. To validate the effectiveness and superiority, a simulation result is provided.