By Topic

Nearness diagram navigation (ND): a new real time collision avoidance approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Minguez, J. ; Comput. Sci. & Syst. Eng., Zaragoza Univ., Spain ; Montano, L.

This paper presents a new real-time collision avoidance approach for mobile robots. The nearness diagram method (ND) performs a high level information extraction and interpretation of the environment. Subsequently, this information is used to generate the motion commands. The proposed approach is well-suited to deal with unknown, unstructured and dynamic environments, where problems of other approaches are avoided. Some experimental results are shown using an holonomic mobile base to demonstrate the usefulness of the method

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: