Concepts for dynamic obstacle avoidancc and their extended application in underground navigation
An effective approach to dynamic obstacle avoidance for mobile robots is described in this paper. The main concepts in this approach include local Polar Object Chart (POC) for defining possible ways out, obstacle definition, detour mode, anchor for preventing getting lost, steering delimiting and velocity delimiting. The presented concepts and methods were tested and verified both by simulations and experiments on a developed prototype industrial Automated Guided Vehicle (AGV). This paper also presents the extended application of some of the concepts in underground navigation. (C) 2002 Elsevier Science B.V. All rights reserved.
obstacle avoidance underground navigation mobile robot automated guided vehicle