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...nments, this neglect of vehicle dynamics can be critical. While methods that take vehicle dynamics and nonholonomic constraints into account have been studied in the context of off-line path planning =-=[4, 9]-=-, such methods are generally too computationally expensive for fast local obstacle avoidance. Recently, however, several local obstacle avoidance methods have been reported that do incorporate vehicle...

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...Work Several well-known local obstacle avoidance methods work by computing a direction for the robot to head in, but do not take vehicle dynamics into account. For example, Potential Field approaches =-=[1, 8]-=- use vector sums of repulsive and attractive features to compute a desired robot heading. Speed control is sometimes handled by choosing velocity proportional to the magnitude of the potential vector....

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...ttractive features to compute a desired robot heading. Speed control is sometimes handled by choosing velocity proportional to the magnitude of the potential vector. The Vector Field Histogram method =-=[2]-=- improves on this approach by computing a one-dimensional polar histogram, which is then processed to detect open areas for the robot to travel through. Robot velocity, chosen after the direction has ...

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...ds of travel. The original method used a two-step approach to pick curvatures and velocities; subsequently, they have adopted our one-step method for simultaneously choosing curvatures and velocities =-=[6]-=-. A similar approach has been developed for outdoor navigation [7]. Here, full vehicle dynamics are considered, so the path is not necessarily a circular arc, a traversability measure is calculated fo...

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...Work Several well-known local obstacle avoidance methods work by computing a direction for the robot to head in, but do not take vehicle dynamics into account. For example, Potential Field approaches =-=[1, 8]-=- use vector sums of repulsive and attractive features to compute a desired robot heading. Speed control is sometimes handled by choosing velocity proportional to the magnitude of the potential vector....

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... the point in velocity space that maximizes the objective function. A similar method for high-speed indoor navigation that operates in velocity space was developed somewhat earlier, but independently =-=[3]-=-. This method looks at a discrete set of arcs, constrained by the vehicle dynamics, and chooses one that most closely heads in the goal direction, while ensuring that the robot does not hit an obstacl...

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...nments, this neglect of vehicle dynamics can be critical. While methods that take vehicle dynamics and nonholonomic constraints into account have been studied in the context of off-line path planning =-=[4, 9]-=-, such methods are generally too computationally expensive for fast local obstacle avoidance. Recently, however, several local obstacle avoidance methods have been reported that do incorporate vehicle...

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...then the weight for the goal-heading term (a 3 ) is set very high to "strongly encourage" the robot to head towards the goal. These behaviors, in turn, form the basis for map-based navigatio=-=n schemes [10, 11]-=-. The resulting system exhibits Figure 9: Traces of Xavier's Runs CVM: 30 cm/sec CVM: 60 cm/sec Pot Field: 60 cm/sec CVM: 45 cm/secsreliable, and speedy, navigation in peopled office/corridor environm...

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... curvatures and velocities; subsequently, they have adopted our one-step method for simultaneously choosing curvatures and velocities [6]. A similar approach has been developed for outdoor navigation =-=[7]-=-. Here, full vehicle dynamics are considered, so the path is not necessarily a circular arc, a traversability measure is calculated for each path, and the one with the best value is chosen. Both these...

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...ly, however, several local obstacle avoidance methods have been reported that do incorporate vehicle dynamics, choosing steering commands rather than travel direction. The Steering Angle Field method =-=[5]-=-, like our own, uses the curvatures tangent to obstacles to constrain a continuous space (in their case, the one-dimensional space of steering angles). The curvatures and associated arc distances are ...

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...then the weight for the goal-heading term (a 3 ) is set very high to "strongly encourage" the robot to head towards the goal. These behaviors, in turn, form the basis for map-based navigatio=-=n schemes [10, 11]-=-. The resulting system exhibits Figure 9: Traces of Xavier's Runs CVM: 30 cm/sec CVM: 60 cm/sec Pot Field: 60 cm/sec CVM: 45 cm/secsreliable, and speedy, navigation in peopled office/corridor environm...