Muhannad Mujahed

Learn More
A new reactive collision avoidance approach for mobile robots moving in cluttered and complex environments was developed and implemented. The novelty of this approach lies in the creation of a new method for analyzing openings in front of the robot that highly reduces their number when compared with the Nearness-Diagram Navigation (ND) technique,(More)
This paper addresses a new obstacle avoidance technique for mobile robots moving in dense and complex environments. Our approach is to integrate two concepts: The Closest Gap (CG) for fetching and analyzing openings surrounding the robot and the Tangential Escape (TE) for reactive obstacle avoidance navigation. This combination results in faster and less(More)
This paper addresses a new obstacle avoidance method for mobile robots moving in dense and complex environments. Our approach, named Smooth Closest Gap (SCG) Navigation, builds on the concept of Closest Gap (CG) as a strategy to detect free openings surrounding the robot and select the most promising one to drive through. Obstacle avoidance is performed(More)
This paper presents a new concept, the “Directly Navigable Gap”, for reactive obstacle avoidance. A directly navigable gap DNG is defined as the gap that a robot can safely navigate through by executing only a single motion command. With this concept, it has been possible to achieve navigation in unknown cluttered environments, similar to the(More)
  • 1