Robot becomes one of the most essential technologies which gain tremendous benefits in the life and makes the implementation of many normal tasks regarding (professional lives, social life, driverless vehicles, industrial working, and household tasks) as well as other dangerous tasks easier and with more accurately manner. In this project, the detecting of the collisions through several methods in order to reduce, minimize, or even to mitigate the collisions between the robots and the objects around it (perception of the environment, collision avoidance algorithms or by making a control process for the robot). Further, the studying of this paper was firstly by detecting and avoiding only one obstacle, detecting several obstacles in the next step, as well as to avoid many obstacles which locate beside each other and in complicated positions in the last step by applying the mathematical equation. Also, some previous related works make the understood of the process better by viewing the results in those related works. Moreover, the modelling of a system in this paper, which is differential drive system was shown with its details. The calculations for the model were also clarified (such as how to find the model’s kinematics and other parameters.Finally, the results for the modelled system are illustrated for the three types of avoidance (for one obstacle, several obstacles and for the complex map obstacles) and based on the obtained results some recommendation is provided for this project which can be helpful for the future works such as modifying the control process or altering other parameters of the robot, depending on the area where the robot will work (on the land or underwater or other areas such as the air) .

Keywords : Robotic Systems, Collision Detection, Collision Avoidance, Mathematical Modelling, Control Process, Obstacle.