A local obstacle avoidance method for mobile robots in partially known environment |
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| Authors: | Chaoxia Shi Yanqing Wang Jingyu Yang |
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| Affiliation: | 1. School of Computer Science and Technology, Nanjing University of Science and Technology, Nanjing, 210094, China;2. School of Computer Science and Technology, Harbin University of Science and Technology, Harbin, 150080, China;1. Automatic Control Department, SUPELEC, Gif-sur-Yvette, France;2. Department of Computer Science, CUCEI, University of Guadalajara, Guadalajara, Mexico;3. Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain;1. Tianjin Key Lab. of Cognitive Computing and Application, School of Computer Science and Technology, Tianjin University, Tianjin 300072, China;2. School of Electronic Information Engineering, Tianjin University, Tianjin 300072, China;3. School of Computer Science & Software Engineering, Shenzhen University, Shenzhen 518060, China;1. School of Mechanical and Automotive Engineering, Hefei University of Technology, 230009 Hefei, China;2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 Harbin, China;3. School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116 Xuzhou, China |
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| Abstract: | Local obstacle avoidance is a principle capability for mobile robots in unknown or partially known environment. A series of velocity space methods including the curvature velocity method (CVM), the lane curvature method (LCM) and the beam curvature method (BCM) formulate the local obstacle avoidance problem as one of constrained optimization in the velocity space by taking the physical constraints of the environment and the dynamics of the vehicle into account. We present a new local obstacle avoidance approach that combines the prediction model of collision with the improved BCM. Not only does this method inherit the quickness of BCM and the safety of LCM, but also the proposed prediction based BCM (PBCM) can be used to avoid moving obstacles in dynamic environments. |
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