Obstacle avoidance path generation method for mobile robot using varying search range

In this study, an obstacle avoidance algorithm, with variable range searching, is proposed for a mobile robot. In the case of the distance transform method, the mobile robot cannot avoid the obstacle when it is narrow. We prepare a grid map with the obstacle and distance levels from a destination. A path with both the least number of turns, and the shortest distance, is generated. The search range depends on the distance between the current position and the obstacle. The algorithm can generate the avoidance path without regard to the shape of the obstacle. In the computer simulation, the proposed algorithm can generate a path that avoids the obstacle. As an experiment, a position detection system used contrast differences, by means of a web camera, to get the coordinates of the mobile robot. It is confirmed that, in the experiment, the mobile robot reached the goal grids without hitting the obstacle.