TAILIEUCHUNG - A reactive collision avoidance approach for mobile robot in dynamic environments

This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. | Journal of Automation and Control Engineering, Vol. 1, No. 1, March 2013 A Reactive Collision Avoidance Approach for Mobile Robot in Dynamic Environments Tang S. H. and C. K. Ang Universiti Putra Malaysia (UPM), Malaysia Email: saihong@, ack_kit@ D. Nakhaeinia University of Ottawa, Canada Email: dania@ B. Karasfi UPM & Islamic Azad University, Qazvin Branch Email: karasfi@ O. Motlagh Universiti Teknikal Malaysia Email: motlagh7@ Abstract—This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles (VSC). The VSC approach lies in integration of 4 modules: division, evaluation, decision and motion generation. The VSC proposes a comprehensive obstacle avoidance approach for robust and reliable mobile robot navigation in cluttered, dense and complex unknown environments. The simulation result shows the feasibility and effectiveness of the proposed approach. Index Terms—Dynamic environment, Obstacle avoidance, Reactive navigation. Mobile reacting to unforeseen obstacles and uncertainties with changing the motion direction [4]. The first works on the local motion planning are Lumelsky's bug algorithm [5], the Khatib's Potential Fields method [6] and the Cox and Yap’s method [7]. During last decades various approaches have been proposed which most of them are variations of some general approaches. Bornstein [8] proposed a real-time obstacle avoidance approach which entitled Virtual Force Field (VFF). This approach developed based on the two concepts of Certainty Grids and Potential Fields. The certainty grid concept used for representation of (inaccurate) sensory data about obstacles and .

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• Journal of Automation and Control Engineering
• A reactive collision avoidance approach
• Mobile robot in dynamic environments
• Complex unknown environments
• Situated activity paradigm
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