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Autonomous Navigation Based on the Velocity Space Method in Dynamic Environments

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Advances in Natural Computation (ICNC 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4222))

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Abstract

We present a new local obstacle avoidance approach for mobile robots in partially known environments on the basis of the curvature-velocity method (CVM), the lane-curvature method (LCM) and the beam-curvature method (BCM). Not only does this method inherit the advantages from both BCM and LCM, but also it combines the prediction model of collision with BCM perfectly so that the so-called prediction based BCM (PBCM) comes into being and can be used to avoid moving obstacles in dynamic environments.

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Author information

Authors and Affiliations

  1. School of Computer Science and Technology, Harbin Institute of Technology, Harbin, Heilongjiang, 150001, China

    Shi Chao-xia, Hong Bing-rong & Piao Song-hao

  2. School of Computer Science and Technology, Harbin University of Science and Technology, Harbin, Heilongjiang, 150080, China

    Wang Yan-qing

Authors
  1. Shi Chao-xia
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  2. Hong Bing-rong
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  3. Wang Yan-qing
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  4. Piao Song-hao
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Editor information

Editors and Affiliations

  1. Life Science Research Center, School of Electronic Engineering, Xidian University, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  2. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  3. School of Electronic Engineering, Xidian Univ., P.O. Box, 710071, Xi’an, P.R. China

    Xinbo Gao

  4. College of Mathematics and Information Science, Hebei Normal University, 050016, Shijiazhuang, Hebei, P.R. China

    Jing Liu

  5. Multi-Agent Systems Lab,Department of Computer Science, University of Science and Technology of China, 230026, Hefei, China

    Feng Wu

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© 2006 Springer-Verlag Berlin Heidelberg

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Chao-xia, S., Bing-rong, H., Yan-qing, W., Song-hao, P. (2006). Autonomous Navigation Based on the Velocity Space Method in Dynamic Environments. In: Jiao, L., Wang, L., Gao, X., Liu, J., Wu, F. (eds) Advances in Natural Computation. ICNC 2006. Lecture Notes in Computer Science, vol 4222. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11881223_121

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  • DOI: https://doi.org/10.1007/11881223_121

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-45907-1

  • Online ISBN: 978-3-540-45909-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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