Dynamic obstacle avoidance based on curvature arcs

Traditionally, obstacle avoidance algorithms have been developed and applied successfully to mobile robots that work in controlled and static environments. But, when working in real scenarios the problem becomes complex since the scenario is dynamic and the algorithms must be enhanced in order to deal with moving objects. In this paper we propose a new method based on the well known Curvature Velocity Method (CVM) and a probabilistic 3D occupancy and velocity grid, developed by the authors, that can deal with these dynamic scenarios. The proposal is validated in real and simulated environments.