Autonomous navigation based on the velocity space method in dynamic environments

作者：Shi Chao xia^*; Hong Bing rong; Wang Yan qing; Piao Song hao

来源：ADVANCES IN NATURAL COMPUTATION, PT 2, SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY, 958-961, 2006.

We present a new local obstacle avoidance approach for mobile robots in partially known environments on the basis of the curvature-velocity method (CVM), the lane-curvature method (LCM) and the beam-curvature method (BCM). Not only does this method inherit the advantages from both BCM. and LCM, but also it combines the prediction model of collision with BCM perfectly so that the so-called prediction based BCNI (PBCM) comes into being and can be used to avoid moving obstacles in dynamic environments.

• 出版日期2006
• 单位哈尔滨工业大学