Smooth Nearness-Diagram Navigation

  title={Smooth Nearness-Diagram Navigation},
  author={Joseph W. Durham and Francesco Bullo},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents a new method for reactive collision avoidance for mobile robots in complex and cluttered environments. Our technique is to adapt the ldquodivide and conquerrdquo approach of the nearness-diagram+ navigation (ND+) method to generate a single motion law which applies for all navigational situations. The resulting local path planner considers all the visible obstacles surrounding the robot, not just the closest two. With these changes our new navigation method generates… CONTINUE READING
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