An avoiding obstacle algorithm of mobile robot under complex unknown environments

The motion characteristic of mobile robot has been analysed and the movement of mobile robot under complex unknown environments has been summaried in this paper. Furthermore, an avoiding obstacle algorithm of mobile robot based on fuzzy MIMO control has been developed, which can make the mobile robot avoid obstacle efficiently. What´s more, by using this algorithm, the robot can give a rough preview of local shape of obstacle, and thereby make itself maintain outside the safe distance with obstacle. Experiments show that the algorithm can reduce some unnecessary deadlocks, and improves the practicability and reliability of avoidance, which demonstrates the effectiveness of the presented avoiding algorithm.