Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decompos-
 

Summary: Abstract
In this paper we present an approach to obstacle avoidance
and local path planning for polygonal robots. It decompos-
es the task into a model stage and a planning stage. The
model stage accounts for robot shape and dynamics using
a reduced dynamic window. The planning stage produces
collision-free local paths with a velocity profile. We present
an analytical solution to the distance to collision problem
for polygonal robots, avoiding thus the use of look-up ta-
bles. The approach has been tested in simulation and on
two non-holonomic rectangular robots where a cycle time
of 10 Hz was reached under full CPU load. During a long-
term experiment over 5 km travel distance, the method
demonstrated its practicability.
1. Introduction
In most mobile robot applications, unmodeled obstacles in
the environment make it necessary to locally replan a path
in order to attain a goal autonomously. Obstacle or colli-
sion avoidance is the motion generating component in a ro-
bot's architecture with this purpose. Although a

  

Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences