Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Avoiding moving obstacles: the forbidden velocity map
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stereo vision based obstacle avoidance path-planning for cross-country intelligent vehicle
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 5
Planning and obstacle avoidance in mobile robotics
Robotics and Autonomous Systems
Reactive path deformation for nonholonomic mobile robots
IEEE Transactions on Robotics
A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics
Path Following for Unicycle Robots With an Arbitrary Path Curvature
IEEE Transactions on Robotics
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The article proposes a novel approach to path following in the presence of obstacles with unique characteristics. First, the approach proposes an integrated method for obstacle avoidance and path following based on a single feedback control law, which produces commands to actuators directly executable by a robot with unicycle kinematics. Second, the approach offers a new solution to the well---known dilemma that one has to face when dealing with multiple sensor readings, i.e., whether it is better, to summarize a huge amount of sensor data, to consider only the closest sensor reading, to consider all sensor readings separately to compute the resulting force vector, or to build a local map. The approach requires very little memory and computational resources, thus being implementable even on simpler robots moving in unknown environments.