NDLI: Controlling synchro-drive robots with the dynamic window approach to collision avoidance

Content Provider	IEEE Xplore Digital Library
Author	Fox, D. Burgard, W. Thrun, S.
Copyright Year	1996
Description	Author affiliation: Dept. of Comput. Sci. III, Bonn Univ., Germany (Fox, D.)
Abstract	This paper proposes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchro-drives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly well-suited for robots operating at high speed. It differs from previous approaches in that the search for commands controlling the translational and rotational velocity of the robot is carried out directly in the space of velocities. The advantage of our approach is that it correctly and in a rigorous way incorporates the dynamics of the robot. This is done by reducing the search space to the dynamic window, which consists of the velocities reachable within a short time interval. Within the dynamic window the approach only considers admissible velocities yielding a trajectory on which the robot is able to stop safely. Among these velocities the combination of translational and rotational velocity is chosen by maximizing an objective function. The objective function includes a measure of progress towards a goal location, the forward velocity of the robot, and the distance to the next obstacle on the trajectory. In extensive experiments the approach presented here has been found to safely control our mobile robot RHINO with speeds of up to 95 cm/sec, in populated and dynamic environments.
Starting Page	1280
Ending Page	1287
File Size	1037001
Page Count	8
File Format	PDF
ISBN	078033213X
DOI	10.1109/IROS.1996.568982
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-11-08
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Collision avoidance Orbital robotics Mobile robots Computer science Humans Velocity control Velocity measurement Path planning Motion planning
Content Type	Text
Resource Type	Article

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