Designing of Obstacle Avoidance Robot using Obstacle-Restriction Method
Keywords:
Obstacle-Restriction Method (ORM), Obstacles Avoidance, Obstacles RestrictionAbstract
This article addresses the Designing process of Obstacle Avoidance Robot using Obstacle-Restriction Method, commonly known as ORM, for difficult scenarios that usually are dense, complex and cluttered. The proposed method can be called as obstacles restriction method in which at each iteration of the control cycle, this method addresses the obstacle avoidance in two steps. First there is procedure to compute instantaneous sub-goals in the obstacle structure (obtained by the sensors). The second step associates a motion restriction to each obstacle, which are managed next to compute the most promising motion direction. The advantage of this technique is that it avoids common limitations of previous obstacle avoidance methods, improving their navigation performance in difficult scenarios.
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