An obstacle avoidance approach is introduced that has dynamic active regions. The dynamic regions are adapted to the current speed of the robot and there are different active regions used, one for speed reduction and one of turning away from obstacles. The overall strategy of this approach is that the robot can drive with high speed which will be reduced in front of an obstacle in order to do a sharper turn.
['Hans-Ulrich Kobialka', 'Vlatko Becanovic']
Speed-dependent obstacle avoidance by dynamic active regions