Navigation based on sonar sensing in a partially structured environment

In this paper the attempt to apply the collision-trend index and the propagating interface model to finding a piecewise optimal path based on the available environmental information from the external sensor at a given time is made for an autonomous mobile robot. By converting the sensory information to an elliptical-based internal representation for path planning, the proposed method is capable of guiding a mobile robot to approach the destination without collision with obstacles.