Parallel robot navigation algorithms

To efficiently operate a robot in unknown environments, a robot should be able to perform a variety of tasks in parallel. The reported work investigates the parallelism involved in sensing for moving and stationary obstacles, while a robot is executing a planned motion. Three specific parallel behaviours are investigated, avoid collision, follow the leader, and wall following. The reported work was carried out on a LABMATE™ mobile robot, equipped with Polaroid Corp. Ultrasonic range finders. The parallel implementation was undertaken on a network of Transputers, using the Occam™ programming language