The bubble rebound obstacle avoidance algorithm for mobile robots

This paper proposes a simple, reactive algorithm for real time obstacle avoidance, aimed to be implemented on low cost, low power microcontrollers. According to this algorithm, the robot reacts to obstacles detected within an area called “sensitivity bubble”, whose shape and size are dynamically adjusted, depending on the kinematics of the robot. Upon detection of an obstacle, the robot “rebounds” in a direction having the lowest density of obstacles, and continues its motion in this direction until the goal becomes visible, or a new obstacle is encountered. Based on experimental results with simulators and real robots, the paper describes the performances and drawbacks of the algorithm, in comparison with other, simple obstacle avoidance algorithms.