The Decision of the Turning Angle for a Mobile Robot Facing a Singular Convex Polygonal Obstacle

An essential relationship between the distance from the robot to the edge of the singular convex polygonal obstacle and the steering angle is presented ,which is a new idea.And the angle is decided only by two range sensors placed in the front of the robot.So this method is simple ,practical and is very suitable for the real-time singular convex obstacle avoidance.And it is convinced that this method can bring out a new idea for not only obstacle avoidance but also path planning and map-building of unknown environment.