Smooth and efficient obstacle avoidance for a tour guide robot
- 12 April 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729) , 446-451
- https://doi.org/10.1109/robot.2003.1241635
Abstract
We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well as goal-directedness. Apart from modifications to the DWA and the elastic band, we present the formulations that allow this fusion.Keywords
This publication has 12 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
- High-speed navigation using the global dynamic window approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Nonholonomic deformation of a potential field for motion planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Elastic bands: connecting path planning and controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The curvature-velocity method for local obstacle avoidancePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Fast local obstacle avoidance under kinematic and dynamic constraints for a mobile robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Real-time path planning using harmonic potentials in dynamic environmentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Dynamic path modification for car-like nonholonomic mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- 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