A new reactive collision avoidance approach for mobile robots moving in cluttered and complex environments was developed and implemented. The novelty of this approach lies in the creation of a new method for analyzing openings in front of the robot that highly reduces their number when compared with the Nearness-Diagram Navigation (ND) technique, particularly in complex scenarios. Moreover, the angular width of the chosen (selected) gap with respect to the robot vision is taken into consideration. Consequently, oscillations are alleviated, the computational complexity is reduced and a smoother behavior will be achieved. Our technique adjusts the motion law proposed in the Smooth Nearness-Diagram Navigation (SND) method to generate safer paths for the robot by considering the ratio of threats on its sides and applying stricter deviation against an obstacle as it gets closer to the robot. Hence, the problem of deadlock occurring in narrow corridors, with high threats on one side and low threats on the other, is solved without affecting the smoothness behavior. Simulation and experimental results demonstrate the power of the proposed approach.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
customersupport@researchsolutions.com
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.
Copyright © 2025 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.