| Title |
Lane-Curvature Method : A New Method for Local Obstacle Avoidance |
| Authors |
고낙용(Ko, Nak-Yong) ; 이상기(Lee, Sang-Kee) |
| Keywords |
Local obstacle avoidance ; Lane method ; Curvature-velocity method ; Collision-free local heading ; Heading command ; Translational velocity ; Rotational velocity |
| Abstract |
The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method. |