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Real-time obstacle avoidance is essential for the safe operation of mobile robots in a dynamically changing environment. This paper investigates how an industrial mobile robot can respond to unexpected static obstacles while following a path planned by a global path planner. The obstacle avoidance problem is formulated using decision theory to determine an optimal response based on inaccurate sensor data. The optimal decision rule minimises the Bayes risk by trading between a sidestep maneuver and backtracking to follow an alternative path. Real-time implementation is emphasised here as part of a framework for real world applications. It has been successfully implemented both in simulation and in reality using a mobile robot. © 1994 Kluwer Academic Publishers.

Original publication

DOI

10.1007/BF00735343

Type

Journal article

Journal

Autonomous Robots

Publication Date

01/03/1994

Volume

1

Pages

69 - 92