TY - JOUR ID - TI - Simulation of Obstacle Avoidance for Auto Guided Land Vehicle AU - Laith A. Al-Ani AU - Mohammed Sahib Mahdi Altaei AU - Qudama Khamees PY - 2019 VL - 60 IS - 1 SP - 189 EP - 203 JO - Iraqi Journal of Science المجلة العراقية للعلوم SN - 00672904 23121637 AB - This research is concerned with designing and simulating an auto control systemfor a car provided with obstacle avoidance sensors. This car is able to pass throughpredefined path an around the detected obstacles, and then come back to theintended path. The IR sensor detects the existence of the obstacle through anassumed range of detection, while the visual sensor (camera) feeds back an imageincluding the path that contains an obstacle, which can be useful for determining theobstacle's length, speed, and direction. According to such information, the controllercreates transient away point along the longitudinal axis of the obstacle which is thesame as the transverse axis of the simulator path at an assumed distance from theobstacle. The robotic car will direct toward the transient point for avoiding theobstacle, which directly comeback into the original rout once when reaching thetransient point. This strategy enables the car to move far away from the obstacle andthen return it into planned path.

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