Improving collision avoidance for mobile robots in partially known environments: the beam curvature method
✍ Scribed by J.L. Fernández; R. Sanz; J.A. Benayas; A.R. Diéguez
- Publisher
- Elsevier Science
- Year
- 2004
- Tongue
- English
- Weight
- 487 KB
- Volume
- 46
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
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.