Obtacle Avoidance Robot Algorithm

Firdaus, Bachok (2006) Obtacle Avoidance Robot Algorithm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Obstacle avoidance is one of the most critical factors in the design of autonomous vehicles such as mobile robots. One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable obstacle avoidance system. Obstacle avoidance system may be divided into two parts, obstacle detection (mechanism, hardware, sensors) and avoidance contrail (algorithm, software, code). Vector field histogram (VHF), vector field histogram with look attead verification (VHF*) and virtual force field (VFF) are a few methods currently used in obstacle avoidance algorithm. This project aims to improve the current obstacle avoidance system using combinational of VHF* and coordination method. The algorithm is programmed into PIC 16F84A and tested on a prototype. The prototype is build using infra red sensor with comparator circuit and DC motor. The project has been tested on several paramete?s; target distance obstacle distance and size of an obstacle. The result shows that the prototype works at 600/o of successful rate.

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