WOAH: an obstacle avoidance technique for high speed path following
Nat Tuck, Michael McGuinness, Fred G. Martin · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2011
This paper presents WOAH, a method for real-time mobile robot path following and obstacle avoidance. WOAH provides reactive speed and turn instructions based on obstacle information sensed by a laser range finder. Unlike many previous techniques, this method allows a robot to move quickly past obstacles that are not directly in its path, avoiding slowdowns in path following encountered by previous obstacle avoidance techniques.