Improving collision avoidance for mobile robots in partially known environments: the beam curvature method

This paper presents a new approach to obstacle avoidance for mobile robots in cluttered and unknown or partially unknown environments. The method combines a new directional method, called beam method (BM), to improve the performance of a local obstacle avoidance approach called curvature velocity me...

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Bibliographic Details
Published in:Robotics and autonomous systems 2004-04, Vol.46 (4), p.205-219
Main Authors: Fernández, J.L., Sanz, R., Benayas, J.A., Diéguez, A.R.
Format: Article
Language:English
Subjects:
Mobile robot
Obstacle avoidance
Real time
Robot control
Robot navigation
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Summary:This paper presents a new approach to obstacle avoidance for mobile robots in cluttered and unknown or partially unknown environments. The method combines a new directional method, called beam method (BM), to improve the performance of a local obstacle avoidance approach called curvature velocity method (CVM). BM calculates the best one-step heading which is used by CVM to obtain the optimal linear and angular velocities. The resulting combined technique is called beam curvature method (BCM). Different experiments in populated and dynamic environments have proved to be very successful. The method is able to guide the robot safely and efficiently during long time periods. We present some of these results compared with other methods.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2004.02.004