Obstacle Avoidance and Path Finding for Mobile Robot Navigation

摘要

This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the target source. Single and multi-iteration anglebased navigation algorithms were developed. The theta-based path finding algorithms were compared with the Dijkstra’s Algorithm and their performance were analyzed.