Title :
The dynamic window approach to collision avoidance
Author :
Fox, Dieter ; Burgard, Wolfram ; Thrun, Sebastian
Author_Institution :
Bonn Univ., Germany
fDate :
3/1/1997 12:00:00 AM
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
