Extending obstacle avoidance methods through multiple parameter-space transformations

  title={Extending obstacle avoidance methods through multiple parameter-space transformations},
  author={Jos{\'e} L Blanco and Javier Gonz{\'a}lez and Juan-Antonio Fern{\'a}ndez-Madrigal},
  journal={Auton. Robots},
Obstacle avoidance methods approach the problem of mobile robot autonomous navigation by steering the robot in real-time according to the most recent sensor readings, being suitable to dynamic or unknown environments. However, real-time performance is commonly gained by ignoring the robot shape and some or all of its kinematic restrictions which may lead to poor navigation performance in many practical situations. In this paper we propose a framework where a kinematically constrained and any… CONTINUE READING
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