Reactive collision avoidance using B-spline representation: Application for mobile robot navigation

Reactive collision avoidance using B-spline representation: Application for mobile robot navigation

Obstacle detection, representation and avoidance are crucial tasks for indoor and outdoor mobile robot navigation. A suitable representation of obstacles can improve the performance of obstacle avoidance. The objective of this paper is to develop a smooth representation of obstacles sensed by 2-D la...

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Hauptverfasser: Wenhao Fu, Hadj-Abdelkader, Hicham, Colle, Etienne
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Approximation methods
Automatic
Collision avoidance
Engineering Sciences
Mobile robots
Navigation
Robot sensing systems
Splines (mathematics)
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Hadj-Abdelkader, Hicham
Colle, Etienne
description Obstacle detection, representation and avoidance are crucial tasks for indoor and outdoor mobile robot navigation. A suitable representation of obstacles can improve the performance of obstacle avoidance. The objective of this paper is to develop a smooth representation of obstacles sensed by 2-D laser range finder in real time in unknown environments. The proposed method relies on line fitting methods while introduces a criterion to extract convex chain of an obstacle boundary. A cubic B-spline curve is then used to approximate the convexity of the obstacle boundary. We apply the proposed method to build a reactive collision avoidance task. The proposed method is validated with both simulation and experimental results of a mobile robot navigation task.
doi_str_mv 10.1109/ECMR.2013.6698861
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subjects Approximation methods
Automatic
Collision avoidance
Engineering Sciences
Mobile robots
Navigation
Robot sensing systems
Splines (mathematics)
title Reactive collision avoidance using B-spline representation: Application for mobile robot navigation
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