Paper Info
Title
A Local Obstacle Avoidance Control Law For Mobile Robot Navigation Based On Beam Curvature Method
Abstract
This paper focuses on the based Beam Curvature Method for two wheeled mobile robot navigation in partially known environments. Local obstacle avoidance problem by indoor mobile robots has been a well-researched subject by several robotics researchers. There are various reactive strategies which operate in the velocity space such as the Dynamic Windows Approach ( DWA), the Curvature Velocity Method ( CVM), the Lane Curvature Method ( LCM) and the Beam Curvature Method ( BCM). These approaches formulate the local obstacle avoidance problem and take into account the robot dynamics and environment physical constraints. In this paper we present a comparison between two methods based on the Beam Curvature Method and the Dynamic Window Approach.
Year
DOI
Venue
2015
10.1109/SSD.2015.7348203
2015 IEEE 12TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD)
Keywords
DocType
Citations 
Obstacle avoidance, mobile robots, velocity space
Conference
0
PageRank 
References 
Authors
0.34
11
4
Name
Order
Citations
PageRank
faten cherni100.34
yassine boutereaa200.34
Chokri Rekik3268.99
Nabil Derbel410739.81