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.
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页码：75 / 78
页数：4
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