Name
Abstract | ||
|---|---|---|
In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decompos- es 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 ta- bles. 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 long- term experiment over 5 km travel distance, the method demonstrated its practicability. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1013695 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | Field | DocType |
collision avoidance,mobile robots,real-time systems,robot dynamics,10 hz,5 km,cpu load,analytical solution,collision-free local paths,local path planning,nonholonomic rectangular robots,polygonal robots,real-time obstacle avoidance,reduced dynamic window,robot shape,task decomposition,velocity profile | Obstacle avoidance,Motion planning,Polygon,Simulation,Cpu load,Engineering,Robot,Collision problem | Conference |
Volume | Issue | Citations |
3 | 1 | 39 |
PageRank | References | Authors |
3.01 | 13 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kai O. Arras | 1 | 998 | 81.80 |
| Persson, J. | 2 | 39 | 3.01 |
| Nicola Tomatis | 3 | 699 | 51.47 |
| Roland Siegwart | 4 | 7640 | 551.49 |