Obstacle Avoidance Algorithm Based on the Probability of Collision

Nong Minh Ngoc; Do Nang Toan; Vu Vinh Quang; Vu Ngo Ngoc

doi:https://doi.org/10.14445/22315381/IJETT-V71I3P234

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Volume 71 | Issue 3 | Year 2023 | Article Id. IJETT-V71I3P234 | DOI : https://doi.org/10.14445/22315381/IJETT-V71I3P234

Obstacle Avoidance Algorithm Based on the Probability of Collision

Nong Minh Ngoc, Do Nang Toan, Vu Vinh Quang, Vu Ngo Ngoc

Received	Revised	Accepted	Published
02 Dec 2022	28 Feb 2023	08 Mar 2023	25 Mar 2023

Citation :

Nong Minh Ngoc, Do Nang Toan, Vu Vinh Quang, Vu Ngo Ngoc, "Obstacle Avoidance Algorithm Based on the Probability of Collision," International Journal of Engineering Trends and Technology (IJETT), vol. 71, no. 3, pp. 328-336, 2023. Crossref, https://doi.org/10.14445/22315381/IJETT-V71I3P234

Abstract

In this paper, a method of finding a path for a robot is proposed based on the calculation of the collision probability, partition of collision probability when a robot is being on its trajectory and the adjusted trajectory during the movement processing. The calculation of the collision probability and the partition of collision probability were provided to support the robot in deciding the movement process through a safety zone and avoiding obstacles at each time. In addition, the results of testing the model of the complement collision probability to build a safety trajectory for the robot with multiple obstacles had done. The results of the probability calculation and collision layer partition were tested, and obstacle avoidance was proposed.

Keywords

Collision avoidance, Predictive probability, Collision probability, Collision prediction, Collision risk.

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