The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
The curvature-velocity method for local obstacle avoidance
Abstract
We present a new method for local obstacle avoidance by indoor mobile robots that formulates the problem as one of constrained optimization in velocity space. Constraints that stem from physical limitations (velocities and accelerations) and the environment (the configuration of obstacles) are placed on the translational and rotational velocities of the robot. The robot chooses velocity commands that satisfy all the constraints and maximize an objective function that trades off speed, safety and goal-directedness. An efficient, real-time implementation of the method has been extensively tested, demonstrating reliable, smooth and speedy navigation in office environments. The obstacle avoidance method is used as the basis of more sophisticated navigation behaviors, ranging from simple wandering to map-based navigation.
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Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Cited by
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
A dynamical system approach to realtime obstacle avoidance
Khansari-Zadeh, S. M., & Billard, A. (2012) · Autonomous Robots · doi:10.1007/s10514-012-9287-y · Cited by 264
Open Source Integrated Planner for Autonomous Navigation in Highly Dynamic Environments
Darweesh, H., Takeuchi, E., Takeda, K., Ninomiya, Y., Sujiwo, A., Morales, L. Y., Akai, N., Tomizawa, T., Kato, S., Nagoya University Furo-cho, C.-K., et al. (2017) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.2017.p0668 · Cited by 81
Metadata
- Authors
- Simmons, R.
- Venue
- Proceedings of IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2002-12-23
- Volume
- 4
- Pages
- 3375-3382
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2171331791
- Cited by
- 522
- References
- 1
- FWCI
- 15.69
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Simmons, R. (2002). The curvature-velocity method for local obstacle avoidance. Proceedings of IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1996.511023
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
