Mobile robot control based on information of the scanning laser range sensor

In this paper, we propose a mobile robot control method which based on distance information obtained by scanning laser range finder. First, the mobile robot gets distance information. This distance information is between the mobile robot and objects. The scanning laser range sensor is put on the front of the mobile robot. The mobile robot decides whether the obstacles are present based on distance information of each angles. At this time, the angle where the distance information below the threshold was detected is judged as an obstacle. The mobile robot calculates sub-goals to the angle where the obstacles do not exist. The reference point for obstacles avoidance is calculated by composing calculated sub-goals. We make the robot track the reference point which is calculated and reach the goal point without colliding obstacles. Finally, we experiment in a real environment, and verify the utility of the propose method.