Socially-Aware Reactive Obstacle Avoidance Strategy Based on Limit Cycle

被引：17

作者：

Boldrer, Manuel ^{[1
]}

Andreetto, Marco ^{[2
]}

Divan, Stefano ^{[2
]}

Palopoli, Luigi ^{[2
]}

Fontanelli, Daniele ^{[1
]}

机构：

[1] Univ Trento, Dept Ind Engn DII, I-38122 Trento, Italy

[2] Univ Trento, Dept Informat Engn & Comp Sci DISI, I-38122 Trento, Italy

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 02期

关键词：

Reactive navigation; limit cycles; service robots; MOBILE ROBOTS; NAVIGATION; MODEL;

D O I：

10.1109/LRA.2020.2976302

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The letter proposes a combination of ideas to support navigation for a mobile robot across dynamic environments, cluttered with obstacles and populated by human beings. The combination of the classical potential field methods and limit cycle based approach with an innovative shape for the limit cycles, generates paths which are reasonably short, smooth and comfortable to follow (which can be very important for assistive robots), and it respects the safety and psychological comfort of the bystanders by staying clear of their private space.

引用

页码：3251 / 3258

页数：8

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