24 January 2011 WOAH: an obstacle avoidance technique for high speed path following
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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.
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Nat Tuck, Nat Tuck, Michael McGuinness, Michael McGuinness, Fred Martin, Fred Martin, } "WOAH: an obstacle avoidance technique for high speed path following", Proc. SPIE 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques, 787811 (24 January 2011); doi: 10.1117/12.876421; https://doi.org/10.1117/12.876421
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