The lane-curvature method for local obstacle avoidance
نویسندگان
چکیده
The Lane-Curvature Method (LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines the Curvature-Velocity Method (CVM) with a new directional method called the Lane Method. The lane method divides the environment into lanes, and then chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal transla-tional and rotational velocities, considering the heading direction, physical limitations, and environmental constraints. By combining both directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot into account.
منابع مشابه
Motion Trajectory Planning Method of Lane Change for Intelligent Vehicle
The motion planning method of lane change for intelligent vehicle is an important component in the autonomous vehicle field. In order to make the intelligent vehicle drive on the urban environmental road smoothly when there is a barrier in the front, a new curvature-continuous obstacle avoidance trajectory planning method was introduced. The trajectory planning method based B-spline curves and ...
متن کاملObstacle avoidance for an autonomous vehicle using force field method
This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...
متن کاملThe Beam-curvature Method: a New Approach for Improving Local Real-time Obstacle Avoidance
This paper describes a new local avoidance method for indoor mobile robots. The method uses a directional method named the Beam Method to improve the performance of a local obstacle avoidance approach called Curvature Velocity Method (CVM). The proposed Beam Method employs radial distances provided by the robot sensors to calculate the best one-step headings. The CVM uses this information to ca...
متن کاملMotion Control for Autonomous
Maneuvers of a nonholonomic vehicle in a structured dynamic environment are considered. The paper focuses on motion generation and control methods to autonomously perform lane following/changing, parallel parking and returning to traac maneuvers. Lane fol-lowing/changing involves the tracking of a nominal trajectory in the traac lane, and the generation and tracking of local lane-changing traje...
متن کاملMotion Planning in Dynamic Environments: Obstacles Moving Along Arbitrary Trajectories
This paper generalizes the concept of velocity obstacles [3] to obstacles moving along arbitrary trajectories. We introduce the non-linear velocity obstacle, which takes into account the shape, velocity and path curvature of the moving obstacle. The non-linear v-obstacle allows selecting a single avoidance maneuver (if one exists) that avoids any number of obstacles moving on any known trajecto...
متن کامل