LOCAL OBSTACLE AVOIDANCE FOR SYNCHRO-DRIVE MOBILE ROBOT

초록

We consider the problem faced by a indoor mobile robot that has to reach a given target by traveling through an unmapped region in the plane which contains obstacles. The robot must avoid static and dynamic obstacles which the robot has no prior knowledge about the positions or size of them. And the robot can acquires knowledge about obstacles only when obstacles are encountered and detected by ultrasonic sensors. Also indoor robot needs to be equipped with fast detection of obstacles and selection of steering commands algorithms to maximize the progress towards the goal location. The dynamics of the robot must be considered to make the generated commands more reliable.