Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers
IEEE Transactions on Robotics
Online topological map building and qualitative localization in large-scale environment
Robotics and Autonomous Systems
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We present a new local obstacle avoidance approach for mobile robots in partially known environments on the basis of the curvature-velocity method (CVM), the lane-curvature method (LCM) and the beam-curvature method (BCM). Not only does this method inherit the advantages from both BCM and LCM, but also it combines the prediction model of collision with BCM perfectly so that the so-called prediction based BCM (PBCM) comes into being and can be used to avoid moving obstacles in dynamic environments.