Title :
A minimalist approach to path following among unknown obstacles
Author :
Campani, Matteo ; Capezio, Francesco ; Rebora, Alberto ; Sgorbissa, Antonio ; Zaccaria, Renato
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Univ. of Genoa, Genoa, Italy
Abstract :
The article proposes a feedback control system for path following in presence of obstacles that is an extension of previous work and is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has some unique characteristics, among which it requires very few computational resources as a consequence of its extreme simplicity.
Keywords :
collision avoidance; feedback; sensors; collision free path; feedback control system; minimalist approach; obstacle avoidance; path following; unicycle vehicle; unknown obstacles;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5649167
