A "divide and conquer" strategy based on situations to achieve reactive collision avoidance in troublesome scenarios

@article{Minguez2004AA,
  title={A "divide and conquer" strategy based on situations to achieve reactive collision avoidance in troublesome scenarios},
  author={Javier Minguez and Javier Osuna and Luis Montano},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={4},
  pages={3855-3862 Vol.4}
}
This paper addresses reactive collision avoidance for robots that move in arduous environments (i.e., very dense, complex and cluttered). To achieve this goal, the technique simplifies the difficulty of the navigation by a divide and conquer strategy, which is based on identifying navigational situations and applying the corresponding motion laws. The state of the art in reactive navigation still presents classic limitations such as trap situations due to U-shape obstacles, difficulty to… CONTINUE READING
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