OBSTACLE AVOIDANCE OF MOBILE ROBOTS BASED ON DYNAMIC WINDOW APPROACH

被引：0
|
作者：
Kiss, Domokos [1 ]
Tevesz, Gabor [1 ]
机构：
[1] Budapest Univ Technol & Econ, Dept Automat & Appl Informat, Budapest, Hungary
来源：
PROCEEDINGS OF 11TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE, 2010 | 2010年
关键词：
Mobile Robots; Obstacle Avoidance; Reactive Methods; Dynamic Window;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A reactive mobile robot navigation method is presented which can be used by robots with differential drive, designed to operate in lightly cluttered indoor environments. This method uses a modified dynamic window approach for avoidance of static and dynamic obstacles. Motion control commands are carried out directly in a two-dimensional space of translational and angular velocities. Dynamic constraints of the robot are taken into account by reducing the velocity search space to a dynamic window, which consists of velocities reachable within a short time interval. Simulation results are presented which reinforce the effectiveness of the method.
引用
收藏
页码：75 / 78
页数：4
相关论文
共 50 条
  • [1] Obstacle avoidance for mobile robot based on improved dynamic window approach
    Li, Xiuyun
    Liu, Fei
    Liu, Juan
    Liang, Shan
    [J]. TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, 2017, 25 (02) : 666 - 676
  • [2] Improved Dynamic Window Approach for Dynamic Obstacle Avoidance of Quadruped Robots
    Chen, Zhiming
    Wang, Ze
    Wu, Miao
    Chen, Hua
    Zhang, Wei
    [J]. IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2020, : 2780 - 2785
  • [3] Robust Local Obstacle Avoidance for Mobile Robot based on Dynamic Window Approach
    Saranrittichai, Piyapat
    Niparnan, Nattee
    Sudsang, Attawith
    [J]. 2013 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY (ECTI-CON), 2013,
  • [4] Dynamic obstacle avoidance method for mobile robots
    Zhang H.
    Miao C.
    Tang Y.
    Yan X.
    Shi Y.
    Yu Y.
    [J]. Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2022, 48 (06): : 1013 - 1021
  • [5] A convergent dynamic window approach to obstacle avoidance
    Ögren, P
    Leonard, NE
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (02) : 188 - 195
  • [6] Obstacle Avoidance With Dynamic Avoidance Risk Region for Mobile Robots in Dynamic Environments
    Guo, Binghua
    Guo, Nan
    Cen, Zhisong
    [J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (03) : 5850 - 5857
  • [7] Dynamic obstacle avoidance method for omnidirectional mobile robots
    Zhang D.
    Liu W.
    Miao C.
    Yu Y.
    [J]. Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2021, 47 (06): : 1115 - 1123
  • [8] The optimal obstacle/collision avoidance algorithm for wheeled mobile robots based on prediction window
    Liu Z.-C.
    Wang M.-J.
    Guo G.
    [J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2020, 37 (05): : 1045 - 1053
  • [9] A reinforcement learning approach to obstacle avoidance of mobile robots
    Macek, K
    Petrovic, I
    Peric, N
    [J]. 7TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, 2002, : 462 - 466
  • [10] Finite Distribution Estimation-Based Dynamic Window Approach to Reliable Obstacle Avoidance of Mobile Robot
    Lee, Dhong Hun
    Lee, Sang Su
    Ahn, Choon Ki
    Shi, Peng
    Lim, Cheng-Chew
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (10) : 9998 - 10006
12345