@inproceedings{f2e07bd7990448cb8da7ee377ef57aa0,
title = "Obstacle Avoidance Based on 2D-Lidar in Unknown Environment",
abstract = "This paper present a new obstacle avoidance algorithm based on 2D-lidar. The algorithm is applied to the problem of reactive navigation for onmi-directional mobile robots in the face of concave obstacles. Two-layer structures are involved in the proposed algorithm. The first layer aims at determining the current exit point. In the second layer, a basic planner is adopted, steering the robot move to the current exit. The core idea of the algorithm is to determine the exit point at each time step. To verify the effectiveness of the proposed algorithm, numerical simulations are presented. The algorithm is compared with potential field method. Results show that the proposed algorithm has good performance especially facing with concave obstacles.",
keywords = "2D-lidar, Concave obstacles, Exits, Obstacle avoidance",
author = "Kai Yan and Baoli Ma",
note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Singapore Pte Ltd.; Chinese Intelligent Systems Conference, CISC 2019 ; Conference date: 26-10-2019 Through 27-10-2019",
year = "2020",
doi = "10.1007/978-981-32-9682-4\_64",
language = "英语",
isbn = "9789813296817",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "609--618",
editor = "Yingmin Jia and Junping Du and Weicun Zhang",
booktitle = "Proceedings of 2019 Chinese Intelligent Systems Conference - Volume I",
address = "德国",
}