Safe navigating system for indoor environments

In this paper we describe a new method for autonomous navigation and exploration in indoor environments. This method is similar to artificial potential fields, keeping the robot at a safe distance from obstacles. We introduce a new concept to achieve the goal based on distances to obstacles following the shortest safety trajectory. This exploration and navigation method is tested using a simulated and a real mobile robot. This system proved its capabilities during the CAROTTE Robotics Contest. Our team CoreBots, won the first edition of this contest using this method.