 |
Free and accessible knowledge |
Conference papers
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.
https://hal.archives-ouvertes.fr/hal-00948982
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Tuesday, February 18, 2014 - 6:53:32 PM
Last modification on : Friday, April 15, 2022 - 11:08:03 AM
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Tuesday, February 18, 2014 - 6:53:32 PM
Last modification on : Friday, April 15, 2022 - 11:08:03 AM