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Obstacle avoidance approach in dynamic environment using sonar range finder and optic mice

This paper proposes a method of real-time obstacle avoidance for autonomous mobile robots in local dynamic environment using multi-sensor data fusion. Due to the effectiveness of the optic-mice sensors, a model of the optic-mice sensors , from which the robot can acquire more accurate self- motion information. This paper also presents an approach to complete enhancement based on the earlier Vector Field Histogram algorithm (VFH), which is called VFH#. It improved the first layer of VFH algorithm in particular. By using this way, robots can select a more appropriate steeling angle in local dynamic environments. The results of experiments with a Pioneer robot demonstrated that robot obstacle avoidance can be obtained using the proposed method.