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Proceedings Paper

WOAH: an obstacle avoidance technique for high speed path following
Author(s): Nat Tuck; Michael McGuinness; Fred Martin
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Paper 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.

Paper Details

Date Published: 24 January 2011
PDF: 11 pages
Proc. SPIE 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques, 787811 (24 January 2011); doi: 10.1117/12.876421
Show Author Affiliations
Nat Tuck, Univ. of Massachusetts Lowell (United States)
Michael McGuinness, Univ. of Massachusetts Lowell (United States)
Fred Martin, Univ. of Massachusetts Lowell (United States)


Published in SPIE Proceedings Vol. 7878:
Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques
Juha Röning; David P. Casasent; Ernest L. Hall, Editor(s)

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