WOAH: an obstacle avoidance technique for high speed path following

Nat Tuck; Michael McGuinness; Fred Martin

doi:10.1117/12.876421

24 January 2011 WOAH: an obstacle avoidance technique for high speed path following

Nat Tuck, Michael McGuinness, Fred Martin

Proceedings Volume 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques; 787811 (2011) https://doi.org/10.1117/12.876421
Event: IS&T/SPIE Electronic Imaging, 2011, San Francisco Airport, California, United States

Abstract

This paper presents WOAH, a method for real-time mobile robot path following and obstacle avoidance. WOAH provides reactive speed and turn instructions based on obstacle information sensed by a laser range finder. Unlike many previous techniques, this method allows a robot to move quickly past obstacles that are not directly in its path, avoiding slowdowns in path following encountered by previous obstacle avoidance techniques.

Citation Download Citation

Nat Tuck, Michael McGuinness, and Fred Martin "WOAH: an obstacle avoidance technique for high speed path following", Proc. SPIE 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques, 787811 (24 January 2011); https://doi.org/10.1117/12.876421

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