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Abstract— This paper deals with a solution to obstacle avoidance for a mobile robot. This paper also presents a dynamic steering algorithm which ensures that the robot doesn't have to stop in front of an obstacle which allows robot to navigate smoothly in an unknown environment, avoiding collisions. The obstacle avoidance strategy has been described. Obstacle avoidance strategy and working of robot is greatly dependent on the detection of obstacles by sensors and corresponding response of robot. Working principle of sensors, limitation of their use and obstacle avoidance algorithm has been discussed in detail.
. INTRODUCTION
Therearesomeveryfamousmethodsforrobotnavigation likewall-following, edge detection.Real-timeobstacleavoidanceis one ofthekeyissuestosuccessfulapplications ofmobilerobot systems.Adisadvantage withobstacleavoidancebasedon edgedetecting istheneedoftherobottostopinfrontofan obstacleinordertoallow foramoreaccuratemeasurement. Allmobile robotsfeaturesomekindofcollision avoidance, rangingfromprimitivealgorithmsthatdetectanobstacleand stoptherobotshortofitinordertoavoidacollision,through sophisticated algorithms, thatenabletherobottodetour obstacles.Thelatteralgorithms aremuchmorecomplex, sincethey involvenotonlythedetection ofanobstacle,but alsosomekindofquantitativemeasurementsconcerning the obstacle'sdimensions.Oncethesehavebeen determined,the obstacleavoidancealgorithmneedstosteertherobotaround theobstacleandresumemotiontowardtheoriginaltarget[4]. Inthispaperthedynamicsteering algorithmensuresthatthe robot doesn't havetostopinfrontofanobstacleduringits navigation. Hencetherobotsmay overcomesomeofthe problemsduringnavigation, discussedaboveanditcan navigatesmoothly duringitsoperationavoidingthe collisions. Wehavepresentedabasicalgorithm anddesign whichcanbefurtherimproveddepending upontherequired applications.