Obstacle avoidance in a collaborative environment

Gourab Sen Gupta, Serge Demidenko, Chris Messom

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review


This paper describes an obstacle avoidance algorithm which constructs an obstacle-free navigation path for a robot to move from one point to another in its workspace. The A* search algorithm has been employed to find the shortest possible path. The algorithm has been tested and validated on the robot soccer platform for diferent number of obstacles (other robots and boundary walls) placed in various formations. The processing is completed well within the real-time constraints of the system. Both simulation and actual test results are presented. The test results exemplify the suitability of the algorithm. The aim of the reported work is to allow a fast moving robot to freely navigate a terrain in the presence of obstacles. ©2008 IEEE.
Original languageEnglish
Title of host publication2008 IEEE International Instrumentation and Measurement Technology Conference Proceedings
Place of PublicationUnited States
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)1-4244-1541-1
Publication statusPublished - 15 Sept 2008
Externally publishedYes
EventIEEE International Instrumentation and Measurement Technology Conference 2008 - Fairmont Express Hotel & Victoria Conference Center, Victoria, Canada
Duration: 12 May 200815 May 2008
Conference number: 25th
https://ieeexplore.ieee.org/xpl/conhome/4539706/proceeding (IEEE Conference Proceedings)


ConferenceIEEE International Instrumentation and Measurement Technology Conference 2008
Abbreviated titleI2MTC 2008
Internet address


  • A* search algorithm
  • Artificial potential field
  • Global vision
  • Obstacle avoidance
  • Robot soccer

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