Obstacle avoidance algorithm in mobile robot motion

Abstract

A method has been proposed, and a computer program has been developed for simulating obstacle avoidance by a robotic system. To expand the mobility capabilities of the robotic system, the algorithm combines the core elements of the vfh algorithm and our previously developed algorithm I [1], and is positioned in this work as algorithm II. An evaluation of the average obstacle avoidance time for various types of obstacles has been conducted, including five cubic obstacles, a long wall obstacle, and a complex obstacle. During the computational experiment using the Gazebo 11 simulation environment, the time parameters for robot movements around various types of obstacles were calculated, including five cubic obstacles, a wall obstacle, and a complex obstacle. In the computational experiment, statistical processing of the obtained results was carried out. It was shown that using the proposed algorithm, the assessment of the average time for the robotic system to avoid obstacles is reduced in some cases by up to 7.2 times compared to the use of algorithm I.