A Limited Field-of-View Based Obstacle Avoidance and Path Planning Algorithm for Mobile Robots
Jianxin Chen · Aerospace Control and Application · 2008
A new sensor-based obstacle avoidance and path planning algorithm for mobile robots is proposed.The field-of-view(FOV) constraint of sensors is considered,and only the local information of the environment in a single FOV is used.Two searching modes are employed to find a safe path in the current FOV,given the current moving direction,data of obstacle boundary endpoints and the orientation of the target.The two modes ensure the convergence to the target of the path.Simulations results demonstrate the effectiveness of the algorithm proposed.