A Hybrid Path-Planning Strategy for Mobile Robots with Limited Sensor Capabilities

. 2019 Mar 1;19(5):1049. doi: 10.3390/s19051049

Algorithm 1: Tangential Escape Algorithm.

Require: Input:

γ

f e

d_{m i n}

d_{o b s}

Ensure: Output: Virtual Target Position

X_{v}

1:
$X_{v} \leftarrow X_{d}$
2:
if $d_{m i n} < d_{o b s}$ then
3:
$β \leftarrow C l o s e s t S e n s o r M e a s u r e m e n t A n g l e$
4:
$θ \leftarrow arctan (y_{g} / x_{g})$
5:
$α \leftarrow θ - ψ$
6:
if $β < 0$ then
7:
$γ \leftarrow - π / 2 - α + β$
8:
else
9:
$γ \leftarrow + π / 2 - α + β$
10:
end if
11:
$d \leftarrow n o r m (X_{v} - X)$
12:
$X_{v} \leftarrow X + tanh (d) {[\begin{matrix} cos (θ - γ) & sin (θ - γ) \end{matrix}]}^{T}$
13:
else
14:
$γ \leftarrow γ (1 - f e)$
15:
end if
16:
return $X_{v}$