DocumentCode
1538563
Title
The dynamic window approach to collision avoidance
Author
Fox, Dieter ; Burgard, Wolfram ; Thrun, Sebastian
Author_Institution
Bonn Univ., Germany
Volume
4
Issue
1
fYear
1997
fDate
3/1/1997 12:00:00 AM
Firstpage
23
Lastpage
33
Abstract
This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot. In experiments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95 cm/sec, in populated and dynamic environments
Keywords
mobile robots; position control; synchros; 0.95 m/s; RHINO; collision avoidance; dynamic window approach; mobile robots; motion dynamics; synchro-drives; Acceleration; Collision avoidance; Humans; Mobile robots; Motion control; Motion planning; Orbital robotics; Robot control; Robot sensing systems; Robotics and automation;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/100.580977
Filename
580977
Link To Document