Autonomous Navigation Based on the Velocity Space Method in Dynamic Environments

  • Shi Chao-xia
  • Hong Bing-rong
  • Wang Yan-qing
  • Piao Song-hao
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4222)


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.


Mobile Robot Velocity Space Obstacle Avoidance Autonomous Underwater Vehicle Autonomous Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Shi Chao-xia
    • 1
  • Hong Bing-rong
    • 1
  • Wang Yan-qing
    • 2
  • Piao Song-hao
    • 1
  1. 1.School of Computer Science and TechnologyHarbin Institute of TechnologyHarbinChina
  2. 2.School of Computer Science and TechnologyHarbin University of Science and TechnologyHarbinChina

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