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ICRA
2002
IEEE

Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window

9 years 4 months ago
Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window
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 longterm experiment over 5 km travel distance, the method demonstrated its practicability.
Kai Oliver Arras, Jan Persson, Nicola Tomatis, Rol
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Kai Oliver Arras, Jan Persson, Nicola Tomatis, Roland Siegwart
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