NDLI: Improving velocity obstacle approach for obstacle avoidance in indoor environments

Content Provider	IEEE Xplore Digital Library
Author	Alsaab, A. Bicker, R.
Copyright Year	2014
Abstract	The velocity obstacle approach (VO) is considered an easy and simple method to avoid moving obstacles, where the collision cone principle is used to detect the collision situation between two circular-shaped objects. The VO approach has two challenges when applied in indoor environments. The first challenge is to extract collision cones of non-circular objects from sensor data, where applying fitting circle methods generally produce large and inaccurate collision cones specially for line-shaped obstacle such as walls. The second challenge is that the mobile robot cannot sometimes move to its goal because all its velocities to the goal are located within collision cones. The contribution of this paper is that a method was demonstrated to extract the collision cones of circular and non-circular objects using a laser sensor, where the obstacle size and the time to collision are considered to weight velocities of the robot. Experiments carried out in an indoor environment showed that the mobile robot successfully avoided dynamic obstacles which have different abilities to avoid other obstacles.
Starting Page	325
Ending Page	330
File Size	597641
Page Count	6
File Format	PDF
ISBN	9781479950119
DOI	10.1109/CONTROL.2014.6915161
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-09
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Heuristic algorithms Lasers Non-circular objects Collision time Robot sensing systems Velocity obstacle Mobile robots Collision avoidance
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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