Dynamic window based approach to mobile robot motion control in the presence of moving obstacles
- 1 April 2007
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (cat. No.01ch37164)
- No. 10504729,p. 1986-1991
- https://doi.org/10.1109/robot.2007.363613
Abstract
This paper presents a motion control method for mobile robots in partially unknown environments populated with moving obstacles. The proposed method is based on the integration of focused D* search algorithm and dynamic window local obstacle avoidance algorithm with some adaptations that provide efficient avoidance of moving obstacles. The moving obstacles are modelled as moving cells in the occupancy grid map and their motion is predicted by applying a procedure similar to the dynamic window approach. The collision points of the robot predicted trajectory and moving cells predicted trajectories form the new active obstacles in the environment, which should be avoided. The algorithms are implemented and verified using a Pioneer 3DX mobile robot equipped with laser range finder.Keywords
This publication has 14 references indexed in Scilit:
- Real-time obstacle avoidance for polygonal robots with a reduced dynamic windowPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- An integrated approach to goal-directed obstacle avoidance under dynamic constraints for dynamic environmentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- High-speed navigation using the global dynamic window approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The curvature-velocity method for local obstacle avoidancePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A propagating interface model strategy for global trajectory planning among moving obstaclesIEEE Transactions on Industrial Electronics, 2002
- Obstacle avoidance in a dynamic environment: a collision cone approachIEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 1998
- Multivalued distance maps for motion planning on surfaces with moving obstaclesIEEE Transactions on Robotics and Automation, 1998
- The dynamic window approach to collision avoidanceIEEE Robotics & Automation Magazine, 1997
- The vector field histogram-fast obstacle avoidance for mobile robotsIEEE Transactions on Robotics and Automation, 1991
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986