Curvature-Velocity Method for Differentially Steered Robots.

摘要

The obstacle avoidance problem has been a well researched topic by many robotics researchers. We focus on one popular solution to this problem, the Curvature-Velocity Method(CVM). In Simmons ' original paper [5], differentially steered (DS) robots where not considered thoroughly. This paper presents a variation on CVM, specifically designed for DS robots. We show comparable results to that of Simmons and our extensions are discussed.