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A Lane Based Obstacle Avoidance Method for Mobile Robot Navigation  

Ko, Nak-Yong (Department Information, Control, and Instrumentation Engineering and Factory Automation Center for parts of Vehicles, Chosun University)
Reid G. Simmons (School of Computer Science, Carnegie Mellon University)
Kim, Koung-Suk (Department Mechanical Information Engineering, Chosun University)
Publication Information
Journal of Mechanical Science and Technology / v.17, no.11, 2003 , pp. 1693-1703 More about this Journal
Abstract
This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.
Keywords
Mobile Robot; Robot Control; Lanes; Curvature; Goal Heading; Local Heading; Heading Command; Obstacle Avoidance;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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