2D Simulator of Obstacle Avoidance Using LRF for Mobile Robots Participated in Tsukuba Challenge

This paper describes a 2D simulator of obstacle avoidance using LRF for mobile robots. In this work, the 2D map of environment is built based on two colors, red and black, where the red represents the obstacles and the black represent the free spaces. The obstacle avoidance is performed when the RLF detects the red areas with the measured distance is less than 1m. The simulator can be used as offline and online tool for mobile robots. In 2009, it was used to offline test obstacle avoidance algorithms in some areas of 1km course of robot challenge named "Tsukuba Challenge" and online predict the robot trajectory in the next few meters during the autonomous navigation. As the results, our mobile robot completed the 1km course with the total time of 51m07s.