Study of obstacle avoidance navigation robot control based on bland man tracing wall theory

In the field of robots´ obstacle avoidance and navigation, indirect contact sensors such as visual, ultrasonic and infrared detection are widely used. However, the performance of these sensors is always influenced by the severe environment, especially under the dark, dense fog, underwater conditions. The obstacle avoidance robot based on tactile sensor is proposed in this paper to realize the autonomous obstacle avoidance navigation by only using three dimensions force sensor. In addition, the mathematical model and algorithm are optimized to make up the deficiency of tactile sensor. Finally, the feasibility and reliability of this study are verified by the simulation results.