Research on intelligent obstacle avoidance control method for mobile robot in multi-barrier environment Online publication date: Wed, 03-Jun-2020
by Yafei Wang; Ming Ma
International Journal of Embedded Systems (IJES), Vol. 12, No. 4, 2020
Abstract: In a current multi-obstacle environment, mobile robots are needed to control obstacle avoidance ability intelligently. Therefore, a method of mobile robot obstacle avoidance control in multi-obstacle environment is proposed based on the minimum risk index. This method first segments the path of obstacle environment according to certain rules. Then, robots are constrained through the constrained time according to requirements of robot obstacle avoidance. Therefore, calculating motion obtains necessary and sufficient conditions with no collision avoidance relationship. Then, impact danger level of each movement stage for the robot is evaluated by considering the spatial distance, inertia, and relative movement speed of multiple obstacle environments. The global safety path is planned, the intelligent avoidance function is calculated, and intelligent avoidance control is implemented. Finally, simulation results show that our proposed method is a common method in intelligent obstacle avoidance, timely tracking of moving target, and makes full use of space.
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