Reactive collision avoidance using B-spline representation: Application for mobile robot navigation

Abstract : Obstacle detection, representation and avoidance are crucial tasks for indoor and outdoor mobile robot navigation. A suitable representation of obstacles can improve the performance of obstacle avoidance. The objective of this paper is to develop a smooth representation of obstacles sensed by 2-D laser range finder in real time in unknown environments. The proposed method relies on line fitting methods while introduces a criterion to extract convex chain of an obstacle boundary. A cubic B-spline curve is then used to approximate the convexity of the obstacle boundary. We apply the proposed method to build a reactive collision avoidance task. The proposed method is validated with both simulation and experimental results of a mobile robot navigation task.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-00948982
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, February 18, 2014 - 6:53:32 PM
Last modification on : Monday, October 28, 2019 - 11:00:21 AM

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Wenhao Fu, Hicham Hadj-Abdelkader, Etienne Colle. Reactive collision avoidance using B-spline representation: Application for mobile robot navigation. 6th European Conference on Mobile Robots (ECMR 2013), Sep 2013, Barcelona, Spain. pp.319--324, ⟨10.1109/ECMR.2013.6698861⟩. ⟨hal-00948982⟩

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