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
fDate :
April 26-May 1, 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308868
