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This paper presents a novel local obstacle avoidance module. The main idea of the steer angle field approach is to discard all steer angles that, given the nonholonomic kinematics of the robot, would lead to collisions within a certain hit distance. The approach has been implemented and tested over a period of one year on our mobile robot. Results have shown that the robot is able to operate robustly in unknown, unprepared and cramped in-door environments for hours.>
Feiten et al. (Tue,) studied this question.