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.

引用

页码：75 / 78

页数：4

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[5]

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