Paper Info
Title
Local action planning for mobile robot collision avoidance.
Abstract
This paper presents an approach to collision avoidance for mobile robots that uses local path planning within a map built from the robot's latest range measurements followed by a search for control commands to steer the robot towards the goal safely and efficiently. While the search for control commands allows to take the robot's dynamics into account and therefore allows for very smooth navigation behavior, planning is able to determine the optimal path towards the goal and minimizes the likelihood that the robot gets trapped in dead end situations. We introduce and compare several approaches, to utilize the results of path planning in the search for good control commands. In extensive experiments we show that our combined approach outperforms a collision avoidance that is purely based on local planning and we empirically investigate the pros-and-cons of the different search strategies for control commands and find one to significantly outperform the others.
Year
DOI
Venue
2002
10.1109/IRDS.2002.1041457
IROS
Keywords
Field
DocType
collision avoidance,mobile robots,navigation,path planning,robot dynamics,control commands,dead end situations,likelihood minimization,local path planning,mobile robot collision avoidance,optimal path,path planning,range measurements,robot dynamics,search strategies,smooth navigation behavior
Motion control,Computer science,Control engineering,Artificial intelligence,Motion planning,Robot control,Computer vision,Optimal control,Simulation,Collision,Mobile robot navigation,Robot,Mobile robot
Conference
Volume
Citations 
PageRank 
1
2
0.44
References 
Authors
5
2
Name
Order
Citations
PageRank
Thorsten Belker1525.39
Dirk Schulz21701236.54