Curvature-Velocity Method for Differentially Steered Robots

T.M. Quasny, L.D. Pyeatt, and J.L. Moore (USA)


Robotics, Obstacle Avoidance, Control


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 [1], 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.

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