Smooth Nearness-Diagram Navigation

被引：55

作者：

Durham, Joseph W. ^{[1
]}

Bullo, Francesco ^{[1
]}

机构：

[1] Univ Calif Santa Barbara, Dept Mech Engn, Santa Barbara, CA 93106 USA

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4651071

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a new method for reactive collision avoidance for mobile robots in complex and cluttered environments. Our technique is to adapt the "divide and conquer" approach of the Nearness-Diagram+ Navigation (ND+) method to generate a single motion law which applies for all navigational situations. The resulting local path planner considers all the visible obstacles surrounding the robot, not just the closest two. With these changes our new navigation method generates smoother motion while avoiding obstacles. Results from comparisons with ND+ are presented as are experiments using Erratic mobile robots.

引用

页码：690 / 695

页数：6

共 12 条

[1] The dynamic window approach to collision avoidance [J].

Fox, D ;

Burgard, W ;

Thrun, S .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 1997, 4 (01) :23-33

[2] Maximizing visibility in nonconvex polygons:: Nonsmooth analysis and gradient algorithm design [J].

Ganguli, Anurag ;

Cortes, Jorge ;

Bullo, Francesco .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2006, 45 (05) :1657-1679

[3]

GERKEY B, 2007, CONTRIBUTORS VERSION

[4] Fast replanning for navigation in unknown terrain [J].

Koenig, S ;

Likhachev, M .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (03) :354-363

[5]

Maxwell BA, 2004, AI MAG, V25, P68

[6] A "divide and conquer" strategy based on situations to achieve reactive collision avoidance in troublesome scenarios [J].

Minguez, J ;

Osuna, J ;

Montano, L .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :3855-3862

[7] Nearness diagram (ND) navigation: Collision avoidance in troublesome scenarios [J].

Minguez, J ;

Montano, L .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (01) :45-59

[8]

Montesano L., 2006, International Journal of Advanced Robotic Systems, V3, P85

[9] Stanley: The robot that won the DARPA Grand Challenge [J].

Thrun, Sebastian ;

Montemerlo, Mike ;

Dahlkamp, Hendrik ;

Stavens, David ;

Aron, Andrei ;

Diebel, James ;

Fong, Philip ;

Gale, John ;

Halpenny, Morgan ;

Hoffmann, Gabriel ;

Lau, Kenny ;

Oakley, Celia ;

Palatucci, Mark ;

Pratt, Vaughan ;

Stang, Pascal ;

Strohband, Sven ;

Dupont, Cedric ;

Jendrossek, Lars-Erik ;

Koelen, Christian ;

Markey, Charles ;

Rummel, Carlo ;

van Niekerk, Joe ;

Jensen, Eric ;

Alessandrini, Philippe ;

Bradski, Gary ;

Davies, Bob ;

Ettinger, Scott ;

Kaehler, Adrian ;

Nefian, Ara ;

Mahoney, Pamela .

JOURNAL OF FIELD ROBOTICS, 2006, 23 (09) :661-692

[10]

Tovar B, 2005, SPRINGER TRAC ADV RO, V17, P425

← 1 2 →