Real-time obstacle avoidance for polygonal robots with a reduced dynamic window

Autor:	J. Persson, Kai O. Arras, N. Tomatis, Roland Siegwart
Rok vydání:	2003
Předmět:	Computer Science::Robotics Vehicle dynamics Engineering business.industry Obstacle avoidance Dynamic window approach Collision problem Robot Mobile robot Motion planning business Collision avoidance Simulation
Zdroj:	ICRA Scopus-Elsevier
DOI:	10.1109/robot.2002.1013695
Popis:	In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model stage accounts for robot shape and dynamics using a reduced dynamic window. The planning stage produces collision-free local paths with a velocity profile. We present an analytical solution to the distance to collision problem for polygonal robots, avoiding thus the use of look-up tables. The approach has been tested in simulation and on two non-holonomic rectangular robots where a cycle time of 10 Hz was reached under full CPU load. During a long-term experiment over 5 km travel distance, the method demonstrated its practicability.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::649db0d22005af7386fd7a70289b6126 https://doi.org/10.1109/robot.2002.1013695 Zobrazit plný text záznamu