High-speed navigation using the global dynamic window approach
Top Cited Papers
- 20 January 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 341-346
- https://doi.org/10.1109/robot.1999.770002
Abstract
Many applications in mobile robotics require the safe execution of a collision-free motion to a goal posi- tion. Planning approaches are well suited for achiev- ing a goal position in known static environments, while real-time obstacle avoidance methods allow re- active motion behavior in dynamic and unknown en- vironments. This paper proposes the global dynamic window approach as a generatlization of the dynamic window approach. It combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of high- velocity, goal-directed, reactive motion for a mobile robot in unknown and dynamic environments. The global dynamic window approach is applicable to non- holonomic and holonomic mobile robots.Keywords
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