A new method for mobile robots to avoid collision with moving obstacle

摘要

A new method for helping mobile robots to avoid collisions with moving obstacles is proposed. This method adopts the concept of safe sectors in the vector field histogram (VFH) method, but simplifies its description. Moreover, the new method takes the threat of moving obstacles into account when selecting the direction of motion, and a new speed control law that considers more factors is designed. Hence, it is better at avoiding moving obstacles than the VFH method. Simulation results indicate that the new method also shows many advantages over the dynamic potential field (DPF) method, which is a representative approach for avoiding moving obstacles. Experiments have further verified its applicability.