Obstacle avoidance with perturbation/correlation method

We propose a novel technique for acquiring effective information for obstacle avoidance in mobile robot navigation. Instead of simply receiving data at a single point, we actively give perturbations to the system and measure the response from the system. Correlating the input and the output, we can formulate the correlation function and useful information to guide the mobile robot such as gradient can be obtained from this function. This algorithm is applied to the obstacle avoidance in mobile robot navigation and the experimental results are provided.