Microprocessor-based control of autonomous mobile robots with obstacle avoidance

A real-time obstacle avoidance algorithm for autonomous mobile robots is developed. The algorithm is sensor-based and consists of a heuristic mode (H-mode) and a track mode (T-mode). The algorithm was then implemented on the NTU II mobile robot, which was fabricated with microprocessor-based control. It is shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm can guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small amount of computational time, it can be implemented in real time