Research on Robot Obstacle Avoidance Method on PSD and Sonar Sensors

In this paper, a novel mobile robot obstacle avoidance method based on multi-sensor was proposed. According to the distant and near information of obstacles that detected by three front-end sonar sensors and four PSD sensors respectively, after analyzing the information data, obstacles distance and azimuth information were obtained, further, making strategy in the direction of motion and movement speed respectively according to the azimuth information and distance information of obstacles. So, robot could realize the autonomous patrol through the finite state transition. Finally, experiments based on AS-R mobile robot platform shows that the method is feasible and reliable.