Obstacle Avoidance Method for a Mobile Robot

Abstract

This paper presents a new obstacle avoidance method for mobile robots. Obstacles in any number and with any quadrilateral configuration can be accommodated in this developed model. Robot movement is considered to be on a two-dimensional Cartesian grid. Unlike most of the methods reported, this one deals with known obstacle geometry and locations. The robot will update location information with the help of a computerized software called DANSORK for controlling moves with collision-free path planning based on the vertex detection method. Obstacle avoidance has been studied in facility location problems and research. This paper attempts to transfer a new method developed in this area for the use in robotics.