Avoidance of unknown obstacles using proximity fields
Mohammed Bennamoun, Ahmad A. Masoud, M.A. Ramsay, Mohamed M. Bayoumi · 2002
Presents a novel real-time obstacle avoidance approach based on proximity sensing. The scheme is designed for the two dimensional navigation of a point object in a totally unknown environment. Navigation is performed by utilizing two proximity sensors of different settings in conjunction with a simple memory less rule for motion control. Simulation results are given for different types of obstacles. The algorithm has also been implemented on an Adept-1 arm manipulator.>