Study of Goal Oriented Obstacle Avoidance for Mobile Robot

—This paper suggests simultaneous mechanism which makes UGV to secure its safety and recreate optimum path right after obstacle avoidance occurs. Research target and sensors is shown and the suggested optimum region path algorithm is presented. Also, this paper provides the performance of suggested algorithm by simulation, and will propose the direction of the future plans. The fixed and varying weight algorithm satisfy the constraints, once the robot arrives at the goal position in the simulation. However, the fixed weight algorithm was not able to drive on the shortest path, which is optimal, with many other successful weight values. On the other hand, the varying weight algorithm successfully generated the optimized path by changing the weight values in term of local environment. Especially, in the second simulation, the robot was able to safely arrive to the goal with little time period. This paper proposed VTV and Local Optimal path algorithm that the robot can generate the optimal path to the goal position without colliding obstacles as adapting Fuzzy controller which continuously optimizes the weight values of the cost function in terms of local environment