DocumentCode
2696828
Title
Dynamic Window Approach for omni-directional robots with polygonal shape
Author
Lawitzky, Andreas ; Althoff, Daniel ; Wollherr, Dirk ; Buss, Martin
Author_Institution
Inst. of Autom. Control Eng. (LSR), Tech. Univ. Munchen, Munich, Germany
fYear
2011
fDate
9-13 May 2011
Firstpage
2962
Lastpage
2963
Abstract
This work presents an extension of the Dynamic Window Approach. The reactive collision avoidance algorithm is generalized to the case of omni-directional kinematics for any polygonal shaped, mobile robot. This paper includes a superior implementation to former realizations and has already been successfully tested with an omni-directional robot. The implementation is efficient and produces collision-free trajectories even in narrow and crowded environments.
Keywords
collision avoidance; geometry; mobile robots; robot dynamics; robot kinematics; collision free trajectories; dynamic window approach; omnidirectional kinematics; omnidirectional robots; polygonal shaped mobile robot; reactive collision avoidance algorithm; Collision avoidance; Force; Heuristic algorithms; Robot kinematics; Shape; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980151
Filename
5980151
Link To Document