Obstacle avoidance navigation using a local path planning method

Abstract

A new local path planning algorithm is suggested in this paper. The proposed method makes a grid type world map using distance values acquired from multiple ultrasonic sensors and generates local points via which the mobile robot can avoid obstacles based on DPH (distance profile histogram). The DPH represents geometrical arrangement of obstacles around the robot in a local polar coordinate system which is assumed to be attached to the robot. To control robot's navigation, a three-layered control structure is adopted. The validity of the proposed method is demonstrated through real experiment.