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Sensors 2018, 18(4), 1030; https://doi.org/10.3390/s18041030

Range Sensor-Based Efficient Obstacle Avoidance through Selective Decision-Making

1
Mechanical Technology Research Center, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea
2
School of Electronics Engineering, Chungbuk National University, Chungbuk 28644, Korea
*
Author to whom correspondence should be addressed.
Received: 2 February 2018 / Revised: 25 March 2018 / Accepted: 26 March 2018 / Published: 29 March 2018
(This article belongs to the Section Intelligent Sensors)
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Abstract

In this paper, we address a collision avoidance method for mobile robots. Many conventional obstacle avoidance methods have been focused solely on avoiding obstacles. However, this can cause instability when passing through a narrow passage, and can also generate zig-zag motions. We define two strategies for obstacle avoidance, known as Entry mode and Bypass mode. Entry mode is a pattern for passing through the gap between obstacles, while Bypass mode is a pattern for making a detour around obstacles safely. With these two modes, we propose an efficient obstacle avoidance method based on the Expanded Guide Circle (EGC) method with selective decision-making. The simulation and experiment results show the validity of the proposed method. View Full-Text
Keywords: mobile robot; navigation; obstacle avoidance; decision-making; motion planning; local path planning mobile robot; navigation; obstacle avoidance; decision-making; motion planning; local path planning
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Shim, Y.; Kim, G.-W. Range Sensor-Based Efficient Obstacle Avoidance through Selective Decision-Making. Sensors 2018, 18, 1030.

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