Obstacles avoidance for omnidirectional mobile robot using line trajectory adaptation

This paper presents an algorithm which is designed based on the adaptation of Straight-Line Equation parameters in order to detect and avoid both static and dynamic obstacles. A real-time measurement is collected making use of the already built-in nine infrared sensors along with the added ultrasonic sensor to increase the obstacle recognition range. The related control actions coming from the executing of the control algorithm are used to force the mobile robot movement through its three drive units to reach destination safely. This has been achieved by updating the required distance and orientation angle. The experimental results showed the effectiveness of the proposed algorithm in the sense of avoiding obstacles without collision and reaching the goal with minimum position error.