Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
Robot Motion Planning
Planning and obstacle avoidance in mobile robotics
Robotics and Autonomous Systems
Integrated Obstacle Avoidance and Path Following Through a Feedback Control Law
Journal of Intelligent and Robotic Systems
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Robotic obstacle avoidance in cluttered and dense environments is an important issue in robotic navigation. Over the past few years a number of techniques has been proposed to deal with safe navigation among obstacles in unknown scenarios. Unfortunately many of these methods do not consider obstacle velocities, which can rise some serious questions concerning their safety [1]. This paper will deal with a novel approach to moving obstacle avoidance in holonomic robots. It proposes the Forbidden VelocityMap, a generalization of the Dynamic Window concept [2] that considers obstacle and robot shape, velocity and dynamics, resulting in a safe, reactive real-time navigation algorithm that is able to deal with navigation in unpredictable and cluttered scenarios.