Research on the strategy of obstacles avoidance of outdoor mobile robot

We propose two types of strategies for obstacle avoidance of outdoor mobile robot. One is safety channel estimation algorithm (SCEA), it is a simple and direct algorithm of obstacle avoidance by computing the largest safety-channel and then adjusting the steering angle command, this algorithm is essentially safety-first algorithm. The estimation of safety-channel ensures the vehicle to select at least one path to track while there are many obstacles. The other algorithm is the most dangerous obstacle estimation algorithm (MDOEA), it is much more complicated than SCEA, however it has obvious purpose, and ensures the vehicle to avoid the current most dangerous obstacle. Therefore this algorithm shows higher artificial intelligence, it is essentially danger-first algorithm which is obviously inverse against the safety-first algorithm. It also shows a better effect of the global path tracking under global environment.