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Reactive local navigation
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Resumo(s)
In this paper a reactive local navigation system is presented, for an autonomous non-holonomic mobile robot navigating in dynamic environments. The reactive navigation
system integrates a obstacle detection method [3] and a new reactive collision avoidance method. The sensory perception is
based in a laser range finder (LRF) system. Simulation results are presented to verify the effectiveness of the proposed local
navigation system in unknown environments with multiple moving objects. The comparison of results are shown, between two different approaches, a Velocity Obstacle (VO) approach
and our own, based in the Dynamic Window (DW) concept.
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Citação
Castro, D.; Nunes, U.; Ruano, A. Reactive local navigation, Trabalho apresentado em 28th Annual Conference of the Ieee Industrial Electronics Society (IECON'2002), In 28th Annual Conference of the Ieee Industrial Electronics Society (IECON'2002), Seville, 2002.