Design and Simulation of Autonomous Mobile Robots Obstacle Avoidance System

Abstract

Autonomous mobile robot is a completely unknown or partially unknown, of its complex environment, which requires the ability to avoid obstacles in order to move safely and avoid the collisions while navigating. To solve this problem, it opted to propose an obstacle avoidance algorithm and implement it as a Decentralized Software Services (DSS) service that uses and combines multiple of sonar and infrared (IR) sensors to detect obstacles including the corner form obstacles, glass obstacles … etc. The obstacle avoidance process is divided into two parts or states, the open state, in which the obstacles are detected, and the obstacles avoidance state in which obstacles are avoided. The obtained results demonstrate the success of the proposed algorithm in which the risk, of collisions, is excluded because the proposed solution controls, automatically, the robot speed and takes into consideration the robot width and the security distance while driving, detecting and avoiding obstacles.