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Collision free navigation using heuristic decision rule

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3 Author(s)
D. Kang ; Inst. of Ind. Sci., Tokyo Univ., Japan ; H. Hashimoto ; F. Harashima

Real-time obstacle avoidance is essential for the safe operation of mobile robots in a dynamically changing environment. This paper investigates how an mobile robot can respond to unexpected obstacles while following a path planned by a global path planner. The obstacle avoidance problem is formulated using a decision theory to determine an optimal response based on inaccurate sensor data. It is shown that our proposed method avoids properly obstacles through simulation results

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996