Smooth Obstacle-avoidance by 4-wheel Navigational Vehicle Using Non-360° Range Sensors

An obstacle-avoidance navigation algorithm based on bug algorithm is proposed for the vehicle using non-360° range sensors and having minimum turning radius. Then the vehicle can bypass obstacle edge along a continuous and smooth path and complete the fixed-goal navigation task. This algorithm uses "virtual antenna" to intuitively represent passable state in the front. The "tentacle algorithm" is used to analyze turning state, and the minimum turning radius of the vehicle is changed according to the surrounding environment to correct the turning route in real time. The test result on a Pioneer 3-AT wheeled robot show that the robot using the proposed algorithm can reach the fixed goal in an unknown environment without collision, and the trajectory is continuous and smooth. The algorithm solve the problem that bug algorithm cannot be used in this kind of vehicles.