Abstract
This paper discusses a 2-dimentional obstacle avoidance algorithm for mobile robots who search the environment obstacles by laser range finder. This algorithm finds the most obstacle free path that will allow a robot to move the furthest distance. In this algorithm, width of the robot is taken in to account when determining the obstacle free path for the robot. 2D laser range finder scans the horizontal data of the environment and algorithm finds the maximum travelable direction which covers span of 180° in front of the robot. The effectiveness of the algorithm is validated using MATLAB simulation framework using real environmental data captured by laser range finder.
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