Extending Collision Avoidance Methods to Consider the Vehicle Shape and Kinematics of a Mobile Robot Using ARM Processor

摘要

Majority of collision avoidance methods does not consider the vehicle constraints mentioned. They assume a point-like and omni directional vehicle with no acceleration constraints. The main contribution of this work is a scheme to consider the exact shape and kinematics, as well as the effects of dynamics in the collision avoidance layer. The idea is to abstract these constraints from the usage of avoidance methods. This technique can be applied to many vehicles with arbitrary shapes