Collision Avoidance of Mobile Robot Using Successive Convexification

Obstacle avoidance of mobile robot is solved using Successive convexification. Non-linear dynamics and non-convex control constraints of mobile robot make the control problem challenging. Collision avoidance of mobile robot is important to avoid physical harms. Obstacle avoidance of mobile robot has received widespread attention. Successive convexification is used to avoid the obstacles placed at different locations for mobile robot. This is successful in avoiding obstacles of arbitrary shapes. Intelligent and autonomous robot is required for obstacle avoidance in uncertain environment. Successive convexification is applied for the control of mobile robot avoiding cylindrical obstacles placed at different locations.