A lane based method for obstacle avoidance of a mobile robot

This paper presents a loral obstacle avoidance method for indoor mobile robots usillg multi-sensor information. The method locates local obstacles using the information from multi-sensors, such that ultrasonic sensor array and LASER range scanner, The method uses lane method to determine optimum collision-free beading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. it yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goat location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and LASER range scanner navigates using the method through a corridor cluttered with obstacle.