Tangential Gap Flow (TGF) navigation: A new reactive obstacle avoidance approach for highly cluttered environments

@article{Mujahed2016TangentialGF,
  title={Tangential Gap Flow (TGF) navigation: A new reactive obstacle avoidance approach for highly cluttered environments},
  author={Muhannad Mujahed and Dirk Fischer and B{\"a}rbel Mertsching},
  journal={Robotics and Autonomous Systems},
  year={2016},
  volume={84},
  pages={15-30}
}
This paper presents a novel reactive collision avoidance method for mobile robots moving in dense and cluttered environments. The proposed method, entitled Tangential Gap flow (TGF), simplifies the navigation problem using a divide and conquer strategy inspired by the well-known Nearness-Diagram Navigation (ND) techniques. At each control cycle, the TGF extracts free openings surrounding the robot and identifies the suitable heading which makes the best progress towards the goal. This heading… CONTINUE READING

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