Adaptive navigation of mobile robots with obstacle avoidance

Abstract

A local navigation technique with obstacle avoidance, called adaptive navigation, is proposed for mobile robots in which the dynamics of the robot are taken into consideration. The only information needed about the local environment is the distance between the robot and the obstacles in three specified directions. The navigation law is a first-order differential equation and navigation to the goal and obstacle avoidance are achieved by switching the direction angle of the robot. The effectiveness of the technique is demonstrated by means of simulation examples.