Research Article

Hybrid Motion Planning Method for Autonomous Robots Using Kinect Based Sensor Fusion and Virtual Plane Approach in Dynamic Environments

Algorithm 1

Hybrid reactive dynamic navigation algorithm.
Input: Coordinate of Robot, obstacle 1, obstacle 2 and goal
Output: Speed of robot’s right and left wheels
Calculate using Kinect
While do
 Calculate and
 Send robot speed
if All in CA
  Calculate using Kinect
  if All then
   There is no collision risk, keep send robot speed
  else
   Construct the virtual plane
   Test the collision in the virtual plane
   if there is a collision risk then
    Check sonar sensor value
    if sonar value is too small then
     Chose of quick motion control
     Send robot speed
    else
     Construct the -window
     Chose the appropriate values for
     Send robot speed
   end if
  end if
end if
end while