Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach

  • Hacene N
  • Mendil B
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Abstract

In this paper, an autonomous navigation and obstacle avoidance strategy is proposed for an omnidirectional mobile robot. The robot plans a path, starting from an initial point going to a target point. A hybrid approach has been developed where a global approach has been applied to the motion along the desired path (DP) using 2 nd order polynomial planning, while a local reactive approach is used to avoid collisions with static and/or dynamic obstacles based on the "sensing vector" and the "gap vector" concepts. The "sensing vector" is a binary vector which provides information about obstacles detection, while the "gap vector" provides information about a possible nearest gap the robot can pass through it.

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Hacene, N., & Mendil, B. (2013). Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach. International Journal of Computer Applications, 81(7), 34–37. https://doi.org/10.5120/14027-2285

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