Title :
Robust obstacle avoidance in unknown and cramped environments
Author :
Feiten, W. ; Bauer, R. ; Lawitzky, G.
Author_Institution :
Corp. Res. & Dev., Siemens AG, Munich, Germany
Abstract :
This paper presents a novel local obstacle avoidance module. The main idea of the steer angle field approach is to discard all steer angles that, given the nonholonomic kinematics of the robot, would lead to collisions within a certain hit distance. The approach has been implemented and tested over a period of one year on our mobile robot. Results have shown that the robot is able to operate robustly in unknown, unprepared and cramped in-door environments for hours
Keywords :
kinematics; mobile robots; path planning; collisions; hit distance; indoor environments; mobile robot; nonholonomic kinematics; robust obstacle avoidance; steer angle field approach; unknown cramped environments; Histograms; Kinematics; Mobile robots; Planning; Research and development; Robot motion; Robot sensing systems; Robustness; Sonar equipment; Testing;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351150
