Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios

• Published in: IEEE transactions on robotics and automation Vol. 20; no. 1; pp. 45 - 59
• Main Authors: Javier Minguez, Montano, L.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.02.2004; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Associate members; Automation; Collision avoidance; Collision avoidance systems; Computer science; control theory; systems; Control theory. Systems; Design methodology; Diagrams; Exact sciences and technology; Mobile robots; Motion planning; Navigation; Neodymium; Robot sensing systems; Robotics; Robots; Strategic planning; Strategy; Vehicle dynamics; Vehicles; Script; Navigation; Clutter; Collision avoidance; Divide and conquer method; Robotics

This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the naviga...