DocumentCode
414414
Title
Experimental study of curvature-based control laws for obstacle avoidance
Author
Zhang, Fumin ; O´Connor, Alexander ; Luebke, Derek ; Krishnaprasad, P.S.
Author_Institution
Dept. of Electr. & Comput. Eng., Maryland Univ., College Park, MD, USA
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3849
Abstract
A novel curvature-based steering control law is introduced to produce obstacle avoidance behavior for unicycle type robots traveling (flying) at constant speed. Different methods of curvature estimation from noisy range data are explored and compared via experiments. The performance of the obstacle avoidance algorithm is investigated through simulations and experiments.
Keywords
collision avoidance; mobile robots; curvature based steering control law; curvature estimation; noisy range data; obstacle avoidance; unicycle type robots; Apertures; Control systems; Educational institutions; Heuristic algorithms; Humans; Navigation; Path planning; Robot sensing systems; Shape control; Working environment noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308868
Filename
1308868
Link To Document