Research of local collision avoidance algorithm of intelligent mobile robot
MA Xiao-y · Microcomputer Information · 2010
Local collision avoidance of the intelligent mobile robot is the focal point of the research in local path planning. In this paper, aiming at the local collision problems in the movement, adopting artificial potential field method, using infrared sensors to obtain the distance information and photoelectric encoder to obtain the location information, based on the force by calculating, real-time location of the robot and adjustment of the robot pose were realized. Under the prerequisite of complying with the ergodic rules and collision prediction rules, collision avoidance path planning in some unknown environment through the real-time detection was realized. Experiments show that this algorithm can smooth the path and be away from the barriers, above all the result proves the feasible and efficient of this method in local collision avoidance.