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Safe Navigation of a Mobile Robot Considering Visibility of Environment
2009
IEEE transactions on industrial electronics (1982. Print)
We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only "visible" ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid
doi:10.1109/tie.2009.2025293
fatcat:ok6e63qgkzdqrppyeaxitka4xu