Escaping from obstacle zone for mobile robot based on maximum distance priority mechanism

摘要: This paper presents an obstacle avoidance method of escaping from zone based on maximum distance priority mechanism, aiming at the with limited local environmental information instead known global information. Acquiring by laser range finder (LRF) which collects data between object and mobile robot, we use a finding feasible directions to search sections, are divisions LRF data. And mechanism is proposed select section containing as reference motion section, enabling robot always move in direction zones. Meanwhile, error control designed optimize make it more practical. An analysis experiment three representative scenes carried out demonstrate principle method. Besides, conduct contrast MT-R wheeled open angle mechanism. In end, overcomes problems for includes endless wandering turning around zone. The results experiments illustrate effectiveness method, reveal its well real-time performance efficiency.