Real-time Obstacle Avoidance and Navigation Based on Virtual Force Grid Method
Zhao Ying-kai · Machine Tool & Hydraulics · 2007
Virtual force grid method was proposed by combining the advantage of virtual force field and grid method,and the problem on navigation and collision avoidance for autonomous mobile robots was studied.This method uses certainty grids for obstacle representation,can make the mobile robot detect unknown obstacles and avoid collisions in the movement and further advance toward the target.The simulation results demonstrate the feasibility and the validity of the method proposed.