The lane-curvature method for local obstacle avoidance

摘要

The lane-curvature method (LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines curvature-velocity method (CVM) with a new directional method called the lane method. The lane method divides the environment into lanes, and then chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocities, considering the heading direction, physical limitations, and environmental constraints. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot into account.