Experimental study of curvature-based control laws for obstacle avoidance
Fumin Zhang, Alan C. O'Connor, D. Luebke, Perinkulam S. Krishnaprasad · 2004
A novel curvature-based steering control law is introduced to produce obstacle avoidance behavior for unicycle type robots traveling (flying) at constant speed. Different methods of curvature estimation from noisy range data are explored and compared via experiments. The performance of the obstacle avoidance algorithm is investigated through simulations and experiments.