Modified Virtual Semi-Circle for MG-Trucks navigation

Unmanned Ground Vehicle (UGV) is a vehicle that operates while in contact with the ground with no human existence on board. The number of research involving autonomous UGV is increasing widely. It can be used for many applications where it might be risky to be handled by human. Mobile Guard UGV-Truck Surveillance (MG-TruckS) is a UGV that used to help security guard to monitor the residential area. Modified Virtual Semi Circle (MVSC) is a reactive obstacle avoidance approach proposed for the MG-TruckS. MVSC redefines the traditional motion modes of nearness diagram method to create shortest path length for a mobile robot. MVSC is designed with the ability for dealing with static and moving obstacles. This research produces simplest path planning with shortest time processing, smoothness of velocity, shortest path, and successfully arrived the target location without any collision.