An improvement approach based on linear navigation law for mobile robot

An improvement approach based on the linear navigation law for mobile robot navigation is suggested. An obstacle is equivalent to a velocity vector when detected by a robot´s sensory system according to the relative distant and relative direction between the robot and the obstacle. And then the vector sum of all obstacles´ equivalent velocity vectors and the linear navigation velocity vector derived from the linear navigation law drives the robot to reach the desired goal position without colliding with an y obstacle in the robot´s workspace. To validate the effectiveness and superiority, a simulation result is provided.