The admissible gap (AG) method for reactive collision avoidance
The admissible gap (AG) method for reactive collision avoidance
复制标题
用于反应性避免碰撞的容许间隙（AG）方法
DOI：
10.1109/icra.2017.8071093
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
B. Mertsching
中科院分区：
文献类型：
--
作者：
Muhannad Mujahed;B. Mertsching
本文提出了一个新的概念，允许间隙，用于避碰。容许间隙AG被定义为机器人在遵守形状和运动约束的同时可以安全通过的差距。利用此概念，提出了一种新的避障方法，提高了在未知杂波环境中的导航性能。与大多数最先进的方法不同，我们的方法明确考虑了机器人的形状和运动学约束，而不是采用最初为完整点状机器人设计的方法。实验结果证明了所提出的AG方法的力量。此外，与最先进的方法的比较表明，AG方法产生更有效，更安全，更平滑的轨迹。
This paper presents a new concept, the Admissible Gap, for collision avoidance. An admissible gap AG is defined as the gap that a robot may safely pass through, while obeying the shape and motion constraints. By employing this concept, a new obstacle avoidance approach was developed, improving the navigation performance in unknown cluttered environments. Unlike most state-of-the-art methods, our approach explicitly considers the robot shape and kinematic constraints rather than adapting a method originally designed for a holonomic pointlike robot. Experimental results demonstrated the power of the proposed AG approach. Moreover, a comparison with state-ofthe- art methods showed that the AG approach generates more efficient, safer, and smoother trajectories.