The dynamic window approach to collision avoidance

被引：2185

作者：

Fox, D ^{[1
]}

Burgard, W ^{[1
]}

Thrun, S ^{[1
]}

机构：

[1] CARNEGIE MELLON UNIV,DEPT COMP SCI,PITTSBURGH,PA 15213

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 1997年 / 4卷 / 01期

基金：

美国国家科学基金会;

关键词：

collision avoidance; mobile robots; reactive motion control; motion dynamics;

D O I：

10.1109/100.580977

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 95cm/sec, in populated and dynamic environments.

引用

页码：23 / 33

页数：11

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