Obstacle avoidance in local navigation

Castro, D.; Nunes, U.; Ruano, Antonio

http://hdl.handle.net/10400.1/2281

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Authors

Castro, D.

Nunes, U.

Ruano, Antonio

Abstract(s)

A reactive navigation system for an autonomous non-holonomic mobile robot in dynamic environments is presented. A new object detection algorithm and a new reactive collision avoidance method are presented. The sensory perception is based in a laser range finder (LRF) system. Simulation results are presented to verify the effectiveness of the proposed local navigational system in unknown environments with multiple moving objects.

Keywords

Obstacle detection Object tracking Local navigation

URI

http://hdl.handle.net/10400.1/2281

Citation

Castro, D.; Nunes, U.; Ruano, A. E. Obstacle Avoidance in Local Navigation, Trabalho apresentado em 0th Mediterranean Conference on Control and Automation (MED’ 2002), In 0th Mediterranean Conference on Control and Automation (MED’ 2002), Lisbon, 2002.