Navigation of an Autonomous Car Using Vector Fields and the Dynamic Window Approach
نویسندگان
چکیده
This work presents a safe navigation approach for a carlike robot. The approach relies on a global motion planning based on Velocity Vector Fields along with a Dynamic Window Approach for avoiding unmodeled obstacles. Basically, the vector field is associated with a kinematic, feedback-linearization controller whose outputs are validated, and eventually modified, by the Dynamic Window Approach. Experiments with a full-size autonomous car equipped with a stereo camera show that the vehicle was able to track the vector field and avoid obstacles in its way.
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