Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform

Table 1

Binary representation of sensors for different robotic platform state.

State	Obstacles									Ping sensors									Action
										9	8	7	6	5	4	3	2	1
0	1	2	3	4	5	6	7	8	9	0	0	0	0	0	0	0	0	0	Spin/rotate
1		2	3							1	1	1	1	1	1	0	0	1	Move with
2	1								9	0	1	1	1	1	1	1	1	0	Move with
3	1	2							9	0	1	1	1	1	1	1	0	0	Move with
4				4	5					1	1	1	1	0	0	1	1	1	Move with
5				4	5	6				1	1	1	0	0	0	1	1	1	Move with
6					5	6	7			1	1	0	0	0	1	1	1	1	Move with
7								8	9	0	0	1	1	1	1	1	1	1	Move with
8			3	4	5					1	1	1	1	0	0	0	1	1	Move with
9					None					1	1	1	1	1	1	1	1	1	Arbitrary direction