Aug 2026· 2026 IEEE Colombian Conference on Applications of Computational Intelligence (ColCACI)· pp. 1-6· 0 citations· 14 references
Abstract
This paper presents a unified ROS2 and Gazebo framework for evaluating reactive and map-based navigation strategies for a differential-drive robot under a common Time-to-Collision (TTC)-based Automatic Emergency Braking System (AEBS). Wall-following, distance-based and TTC-based Follow-the-Gap variants, Pure Pursuit, and Stanley are compared under identical obstacle-constrained conditions using tracking, smoothness, efficiency, and safety metrics. Pure Pursuit provides smoother tracking and fewer AEBS interventions than Stanley under the tested parameterization, while TTC-based Follow-the-Gap achieves anticipatory obstacle avoidance with no AEBS activations. Exposure-normalized safety analysis further shows that method rankings depend on whether AEBS stops are normalized by path length or traversal time, demonstrating that raw intervention counts should not be interpreted in isolation. The framework provides a reproducible safety-supervised baseline for subsequent autonomous navigation and computational intelligence studies.
Results show that search efficiency depends on alignment between exploration design and spatial structure, not universal strategy superiority, and that search efficiency depends on alignment between exploration design and spatial structure, not universal strategy superiority.
This paper proposes LSTP-Nav, a lightweight, decentralized navigation framework built on LSTP-Net that maps stacked 2D LiDAR observations, goal information, and velocity feedback directly to action and introduces an HS reward to provide smooth, heading-aware safety feedback, and develops PhysReplay-SimLab to improve tr...
Xingrong Diao, Zhi-Qiang Sun, Jian-Wei Peng et al.· IEEE Transactions on Automat...· 0 citations
Autonomous mobile robots require timeefficient planning and safety-critical dynamic obstacle avoidance under constrained onboard computation. While Iterative Learning Planning (ILP) offers lightweight and efficient traversal planning, it lacks explicit mechanisms for dynamic obstacle perception and avoidance. This arti...
Zhi-Yi Chen, Shu-Li Lv, Chen Min et al.· 0 citations
Control barrier functions (CBFs) provide a mathematically grounded framework for enforcing local collision-avoidance constraints in autonomous mobile robots, commonly through optimization-based safety filters. However, a minimum-intervention CBF filter lacks task-level maneuver awareness and may fail to select a produc...
Shi-Bo Li, Zhong-Cheng Wang, Jia-He Cao et al.· 0 citations
Autonomous navigation in dynamic indoor environments remains a significant challenge for bipedal robots due to the
need to maintain locomotion stability while responding to moving obstacles. This paper presents a lightweight reactive baseline
framework for biped robots developed in ROS Noetic and Gazebo simulation. The...
Jonnavada Ravi Kiran, Akepogu Ananda Rao, P. Raju· International Journal for Re...· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
