Research on obstacle avoidance of mobile robot based on reaction type
Hao Wang · Journal of Hefei University of Technology · 2013
A new obstacle avoidance control method based on reaction type is presented,in which divide and conquer strategy is used,complex environment is designed to different scenes,and the scene in which the robot lives is determined by the designed scene-action rules,then the appropriate action is selected based on different scenes.By using this method to control a mobile robot in the unknown environment,real-time detection of obstacles,and real-time planning of reasonable and effective path to travel to the target point stably,smoothly and uninterruptedly can be achieved.At the same time,the oscillation in the small space can be prevented,and the U-shaped trap can be avoided effectively.The feasibility and effectiveness of this method is proved by experiments,and the superiority and robustness of the algorithm in complex environment is also demonstrated.