Dynamic Window Approach for Omnidirectional Robots with Polygonal Shape

摘要：

This work presents an extension of the Dynamic Window Approach. The reactive collision avoidance algorithm is generalized to the case of omni-directional kinematics for any polygonal shaped, mobile robot. This paper includes a superior implementation to former realizations and has already been successfully tested with an omni-directional robot. The implementation is efficient and produces collision-free trajectories even in narrow and crowded environments.

作者: Andreas Lawitzky Daniel Althoff Dirk Wollherr Martin Buss

作者单位: Institute of Automatic Control Engineering (LSR)

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2962-2963

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）