Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment

• Main Authors: Raja Maamor Shah, Raja Noor Farah Azura, Nayan, Irwan, Raja Maamor Shah, Raja Lailatul Zuraida, Amira Shahirah, Mohd Hanafi @ Omar, Hafiz
• Format: Article
• Language: English
• Published: Trans Tech Publications 2014
• Online Access: http://psasir.upm.edu.my/id/eprint/59559/1/Modified%20virtual%20semi-circle%20approach%20for%20a%20reactive%20collision%20avoidance%20of%20a%20mobile%20robot%20in%20an%20outdoor%20environment.pdf; http://psasir.upm.edu.my/id/eprint/59559/; https://www.scientific.net/AMM.679.171

There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed.