A method for local obstacle avoidance of mobile robots

This paper presents a local obstacle avoidance method for indoor mobile robots. The method determines optimum collision-free heading direction using lane method. The heading direction guides the robot toward goal location as well as collision-free space. So, the method produces translational and rotational velocity driving the robot toward the heading direction, considering some dynamic effects of robot motion. The method guides robot to move through a collision-free path as fast as possible with reduced vibration. The method is used for navigation of a mobile robot through a corridor cluttered with obstacles. Copyright (C) 2001 IFAC.