Simple obstacle avoidance for a mobile robot moving through via points

This study presents simple obstacle avoidance of a mobile robot that moves through via points in a dynamic environment in which obstacles move. This proposed system consists of two controllers, a reference controller and a PI-controller. The reference controller generates a robot motion reference trajectory in reaching goals and avoiding obstacles by referring sensor information in real time trajectory and the PI-controller moves robot to follow the reference trajectory. Computer simulation was performed to test the effectiveness of proposed method and then extended to experimental tests.