✦ LIBER ✦
Steer angle fields: An approach to robust manoeuvring in cluttered, unknown environments
✍ Scribed by Rudolf Bauer; Wendelin Feiten; Gisbert Lawitzky
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 742 KB
- Volume
- 12
- Category
- Article
- ISSN
- 0921-8890
No coin nor oath required. For personal study only.
✦ Synopsis
In this paper a simple, robust and efficient method for local obstacle avoidance is described. It takes into account both the geometric and the kinematic properties of the robot in order to calculate allowed and forbidden steer angles.
The algorithm has been implemented and extensively tested on our mobile robot. Results have shown that the robot is able to operate robustly in unknown and unprepared in-door environments for extended periods.