Autonomous Navigation Based on the Velocity Space Method in Dynamic Environments
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.
KeywordsMobile Robot Velocity Space Obstacle Avoidance Autonomous Underwater Vehicle Autonomous Navigation
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