Modeling of Non-convex Obstacle Detection and Avoidance Mobile Robot by Hybrid Cellular Automata

In this paper we investigate a particular behavior of autonomous mobile robots for obstacle avoidance, where the geometry of obstacle is non convex in nature. The detection and avoidance of the obstacle is done by means of robot exploration in the given environment. This behavior is modeled using Hybrid Cellular Automata controllers. Finally the validation of the model is checked by simulation of the mobile robot using Micro soft robotic studio.