Multi-sensor based collision avoidance algorithm for mobile robot

摘要

Collision Avoidance (CA) systems have been used in wide range of different robotics areas and had extraordinary success in minimizing the risk of collisions. It is a critical requirement in building mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid two or more objects from colliding. The purpose of this paper is to present an algorithm for performing collision avoidance in mobile robot that is relying on the use of low-cost ultrasonic with infrared sensors, and involving some other modules, so that it can be easily used in real-time robotic applications. The proposed algorithm is implemented in multiple scenarios with several obstacles placed in different locations around the robot. Our experimental run shows that the robot has been successfully detecting obstacles and avoiding collisions along its path.