Abstract— The paper presents an algorithm for autonomous robots with the ability to avoid obstacles when traveling between two points on a given trajectory. The algorithm was designed to obtain good performance on simple hardware systems, with low performance sensors. We implemented and tested the algorithm on the NXT kit that incorporates a basic ultrasonic sensor and an NXT camera. Experiments were performed to evaluate the robot performance. Results show that the robot system successfuly avoids obstacles, achieving good performance in terms of accuracy, total time needed to detect the obstacle, process the information, determine the new path for avoiding the obstacle and then returning on the initial trajectory. The algorithm was implemented in Java.
