Dynamic window based approach to mobile robot motion control in the presence of moving obstacles

This paper presents a motion control method for mobile robots in partially unknown environments populated with moving obstacles. The proposed method is based on the integration of focused D* search algorithm and dynamic window local obstacle avoidance algorithm with some adaptations that provide eff...

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Bibliographic Details
Published inProceedings 2007 IEEE International Conference on Robotics and Automation pp. 1986 - 1991
Main Authors Seder, M., Petrovic, I.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2007
Subjects
Cost function
Heuristic algorithms
Mobile robots
Motion control
Motion planning
Orbital robotics
Path planning
Robot sensing systems
Robotics and automation
Trajectory
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ISBN1424406013
9781424406012
ISSN1050-4729
DOI10.1109/ROBOT.2007.363613

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Summary:This paper presents a motion control method for mobile robots in partially unknown environments populated with moving obstacles. The proposed method is based on the integration of focused D* search algorithm and dynamic window local obstacle avoidance algorithm with some adaptations that provide efficient avoidance of moving obstacles. The moving obstacles are modelled as moving cells in the occupancy grid map and their motion is predicted by applying a procedure similar to the dynamic window approach. The collision points of the robot predicted trajectory and moving cells predicted trajectories form the new active obstacles in the environment, which should be avoided. The algorithms are implemented and verified using a Pioneer 3DX mobile robot equipped with laser range finder.
ISBN:1424406013
9781424406012
ISSN:1050-4729
DOI:10.1109/ROBOT.2007.363613