A heuristic obstacle avoidance algorithm using vanishing point and obstacle angle

Although there exists a class of algorithms for coping with unknown obstacles in mobile robot navigation, most of them produce rather conservative paths because the varying density of obstacles is not directly considered in the real-time motion planning stage. In this paper, we develop a heuristic o...

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Veröffentlicht in:Intelligent service robotics Jg. 8; H. 3; S. 175 - 183
Hauptverfasser: Kim, Yongkuk, Kwon, SangJoo
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Berlin/Heidelberg Springer Berlin Heidelberg 01.07.2015
Springer Nature B.V
Schlagworte:
Algorithms
Artificial Intelligence
Control
Dynamical Systems
Engineering
Heuristic
Mechatronics
Motion planning
Obstacle avoidance
Original Research Paper
Real time
Robotics
Robotics and Automation
Robots
User Interfaces and Human Computer Interaction
Velocity
Vibration
Mobile robot navigation
Lane following
Obstacle avoidance
Vanishing point
ISSN:1861-2776, 1861-2784
Online-Zugang:Volltext
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Zusammenfassung:Although there exists a class of algorithms for coping with unknown obstacles in mobile robot navigation, most of them produce rather conservative paths because the varying density of obstacles is not directly considered in the real-time motion planning stage. In this paper, we develop a heuristic obstacle avoidance method in terms of the vanishing point and obstacle angle (VP–OA) to compromise through an adjustable weighting factor between the lane tracking and the obstacle avoidance performance depending on the frequency of emerging obstacles. The suggested algorithm has the advantage of generating smooth local paths close to a human’s car driving. Comparison simulations and experiments with other popular algorithms validate the effectiveness of the proposed scheme.
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ISSN:1861-2776
1861-2784
DOI:10.1007/s11370-015-0171-4