Non-Rigid Obstacle Avoidance for Mobile Robots
Junghee Park, Jeong S. · InTech eBooks · 2011
In mobile robotics, obstacle avoidance problem has been studied as a classical issue. In practical applications, a mobile robot should move to a goal in the environment where obstacles coexist. It is necessary for a mobile robot to safely arrive at its goal without being collided with the obstacles. A variety of obstacle avoidance algorithms have been developed for a long time. These algorithms have tried to resolve the collisions with different kinds of obstacles. This chapter classifies the types of obstacles and presents characteristics of each type. We focus on the new obstacle type that has been less studied before, and apply representative avoidance strategies to solve this new type of obstacle avoidance problem. The results of different strategies would be compared and evaluated in this chapter.