A NEW REAL-TIME AND DYNAMIC COLLISION AVOIDANCE METHOD OF MOBILE ROBOTS BASED ON RELATIVE COORDINATES

A new real time and dynamic collision avoidance method for mobile robots based on relative coordinates is presented.To avoid collision with the static and dynamic obstacles,we move the relative velocity away from the collisions field by adjusting the robot velocity value and direction real time dynamically in acceleration space based on relative coordinates. The simulation results verify the efficiency of the method.