Towards a real-time navigation strategy for a mobile robot

Describes the design of a real-time obstacle avoidance and navigation strategy for a mobile robot, using simulated time of flight infrared data. Algorithms have been developed in order to overcome the undesirable effect of potential traps within the field, and a new approach for dealing with sensing whilst moving is demonstrated. The authors show simulated results of a vehicle moving under artificial potential force equations, which is designed to achieve modification of behaviour at a speed close to the normal operational speed of a real mobile