Real-Time Collision Avoidance in the Environment with Moving Obstacles
Toshiaki Ishikawa, Yoshiteru Nishimura, Koichi Hori · 2008
In this paper, we propose a new algorithm for a mobile robot that avoids obstacles autonomously by using local information. In this algorithm, a robot follows a preplanned path as much as possible, and if it detects an obstacle on or near the path, it autonomously changes its direction and controls speed to avoid the obstacle. These steering angle and control speed are decided by using the relative position and velocity between the robot and the obstacle. This algorithm is simple, and doesnpsilat use any complex calculations. So it is proper for real-time applications. The greatest distinction from other real-time collision avoidance algorithms is that this algorithm can be used in environments where obstacles move, as well as where obstacles don't move. Simulation results in several conditions indicate that by using this algorithm, a robot can avoid obstacles in both static and dynamic environments smoothly.