FAST GOAL NAVIGATION WITH OBSTACLE AVOIDANCE USING A DYNAMIC LOCAL VISUAL MODEL
Juan Fasola, Paul E. Rybski, Manuela Veloso · 2005
We introduce an algorithm for navigation to a goal with obstacle avoidance for the Sony AIBO mobile robot. The algorithm makes use of the robot's single monocular camera for both localization and obstacle detection. The algorithm alternates between two different navigation modes. When the area in front of the robot is unobstructed, the robot navigates straight towards the goal. When the path is obstructed, the robot will follow the contours of the obstacles until the way is clear. We show how the algorithm...