Reactive collision avoidance using B-spline representation: Application for mobile robot navigation - Archive ouverte HAL
Conference Papers Year : 2013

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

Abstract

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.

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Dates and versions

hal-00948982 , version 1 (18-02-2014)

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Wenhao Fu, Hicham Hadj-Abdelkader, Etienne Colle. Reactive collision avoidance using B-spline representation: Application for mobile robot navigation. 6th European Conference on Mobile Robots (ECMR 2013), Sep 2013, Barcelona, Spain. pp.319--324, ⟨10.1109/ECMR.2013.6698861⟩. ⟨hal-00948982⟩
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