Heuristics and experiences with constraint based on-line collision avoidance for wheeled mobile robots
A. Ouldamar, Dominique Meizel · 2002
This paper proposes an extension of collision avoidance technique, derived from constraint based local navigation. The principle of the collision avoidance algorithm which constitutes an on-line version of the constraint based local navigation has been formerly exposed in Meizel and Ouldamar (1993). The present work adds a detailed study of heuristics used in combination with the basic method to prevent as many as possible deadlocks in the task of tracking a desired path while avoiding unpredicted obstacles. In addition, it is shown how to take into account acceleration constraints and curvature constraints when dealing with car like autonomous vehicles.>