W. Burgard, D. Fox, and S. Thrun:
Controlling Synchro-drive Robots with the Dynamic Window Approach to Collision Avoidance.
in: International Conference on Intelligent Robots and Systems (IROS'96), Japan, 1996.
This paper describes the dynamic window approach to reactive
collision avoidance for mobile robots equipped with
synchro-drives. The approach is derived directly from the
motion dynamics of the robot and is therefore particularly
well-suited for robots operating at high speed. It differs
from previous approaches in that the search for commands
controlling the translational and rotational velocity of the
robot is carried out directly in the space of velocities. The
advantage of our approach is that it correctly and in an
elegant way incorporates the dynamics of the robot. This is
done by reducing the search space to the dynamic window,
which consists of the velocities reachable within a short time
interval. Within the dynamic window the approach only
considers admissible velocities yielding a trajectory on which
the robot is able to stop safely. Among these velocities the
combination of translational and rotational velocity is chosen
by maximizing an objective function. The objective function
includes a measure of progress towards a goal location, the
forward velocity of the robot, and the distance to the next
obstacle on the trajectory. In extensive experiments the
approach presented here has been found to safely control our
mobile robot RHINO with speeds of up to 95 cm/sec, in populated
and dynamic environments.
This is a short version of the paper to be published in
IEEE Robotics and Automation Magazine.