Robust obstacle avoidance in unknown and cramped environments
- 17 December 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2412-2417 vol.3
- https://doi.org/10.1109/robot.1994.351150
Abstract
This paper presents a novel local obstacle avoidance module. The main idea of the steer angle field approach is to discard all steer angles that, given the nonholonomic kinematics of the robot, would lead to collisions within a certain hit distance. The approach has been implemented and tested over a period of one year on our mobile robot. Results have shown that the robot is able to operate robustly in unknown, unprepared and cramped in-door environments for hours.<>Keywords
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