Collision free navigation using heuristic decision rule

Real-time obstacle avoidance is essential for the safe operation of mobile robots in a dynamically changing environment. This paper investigates how an mobile robot can respond to unexpected obstacles while following a path planned by a global path planner. The obstacle avoidance problem is formulated using a decision theory to determine an optimal response based on inaccurate sensor data. It is shown that our proposed method avoids properly obstacles through simulation results