A lane based obstacle avoidance method for mobile robot navigation

被引：0
作者：
Nak Yong Ko
Reid G. Simmons
Koung Suk Kim
机构：
[1] Chosun University,Department Information, Control, and Instrumentation Engineering and Factory Automation Center for Parts of Vehicles
[2] Carnegie Mellon University,School of Computer Science
[3] Chosun University,Department Mechanical Information Engineering
来源：
KSME International Journal | 2003年 / 17卷
关键词：
Mobile Robot; Robot Control; Lanes; Curvature; Goal Heading; Local Heading; Heading Command; Obstacle Avoidance;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method(LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.
引用
收藏
页码：1693 / 1703
页数：10
相关论文
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