Improving collision avoidance for mobile robots in partially known environments:: the beam curvature method
Improving collision avoidance for mobile robots in partially known environments:: the beam curvature method
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DOI：
10.1016/j.robot.2004.02.004
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发表时间：
2004-04-30
影响因子：
4.3
通讯作者：
Diéguez, AR
中科院分区：
文献类型：
--
作者：
Fernández, JL;Sanz, R;Diéguez, AR
本文提出了一种新的方法来避免移动的机器人在混乱和未知或部分未知的环境中的障碍物。该方法结合了一种新的定向方法，称为波束方法（BM），以提高性能的局部避障方法称为曲率速度方法（CVM）。BM计算最佳的一步航向，CVM使用该航向来获得最佳的线速度和角速度。在人口密集和动态环境中的不同实验已经证明是非常成功的。该方法能够在长时间内安全有效地引导机器人。我们提出了一些这些结果与其他方法相比。(C)2004 Elsevier B.V.保留所有权利。
This paper presents a new approach to obstacle avoidance for mobile robots in cluttered and unknown or partially unknown environments. The method combines a new directional method, called beam method (BM), to improve the performance of a local obstacle avoidance approach called curvature velocity method (CVM). BM calculates the best one-step heading which is used by CVM to obtain the optimal linear and angular velocities. The resulting combined technique is called beam curvature method (BCM).Different experiments in populated and dynamic environments have proved to be very successful. The method is able to guide the robot safely and efficiently during long time periods. We present some of these results compared with other methods. (C) 2004 Elsevier B.V. All rights reserved.