Socially-aware reactive obstacle avoidance strategy based on limit cycle

Manuel Boldrer; Marco Andreetto; Stefano Divan; Luigi Palopoli; Daniele Fontanelli

doi:10.1109/LRA.2020.2976302

Socially-aware reactive obstacle avoidance strategy based on limit cycle

Manuel Boldrer^*, Marco Andreetto, Stefano Divan, Luigi Palopoli, Daniele Fontanelli

^*Corresponding author for this work

Research output: Contribution to journal › Article › Scientific › peer-review

9 Citations (Scopus)

Abstract

The letter proposes a combination of ideas to support navigation for a mobile robot across dynamic environments, cluttered with obstacles and populated by human beings. The combination of the classical potential field methods and limit cycle based approach with an innovative shape for the limit cycles, generates paths which are reasonably short, smooth and comfortable to follow (which can be very important for assistive robots), and it respects the safety and psychological comfort of the bystanders by staying clear of their private space.

Original language	English
Pages (from-to)	3251-3258
Journal	IEEE Robotics and Automation Letters
Volume	5
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2020.2976302
Publication status	Published - 2020
Externally published	Yes

Keywords

limit cycles
Reactive navigation
service robots

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10.1109/LRA.2020.2976302

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AB - The letter proposes a combination of ideas to support navigation for a mobile robot across dynamic environments, cluttered with obstacles and populated by human beings. The combination of the classical potential field methods and limit cycle based approach with an innovative shape for the limit cycles, generates paths which are reasonably short, smooth and comfortable to follow (which can be very important for assistive robots), and it respects the safety and psychological comfort of the bystanders by staying clear of their private space.

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Socially-aware reactive obstacle avoidance strategy based on limit cycle

Abstract

Keywords

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