Real-Time Navigation and Obstacle Avoidance Based on Grids Method for Fast Mobile Robot

Abstract We have developed and implemented a real-time navigation and obstacle avoidance method based on grids on our mobile robot THMR-2. This method permits the detection of unknown obstacles and avoidance collision based on the information of ultrasonic sensors while autonomously steering the mobile robot toward the given target in smooth and continuous motion. Experimental results are given in some typical environment. The strong power of the method has been demonstrated.

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