Local Obstacle Avoidance with Reliable Goal Acquisition for Mobile Robots

In this paper, we propose a method of obstacle avoidance and goal acquisition for mobile robots in unknown environments. We have modified the navigation method, Vector Field Histogram(VFH) by Borenstien et al. Our method, Sensor Based Vector Field Histogram(SBVFH), designs for more sensor-reactive method. Our method concerns the situation that several mobile robots travelling in the environment. The mobile robot is goal-directed while trying to avoid static and moving obstacles. The results of simulation and experiment show that the algorithm is efficient with relatively cheap sensors.

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