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

Autori
Seder, Marija ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD ROM Proceedings of the 2007 IEEE International Conference on Robotics and Automation / - Rim, 2007, 1986-1991

Skup
2007 IEEE International Conference on Robotics and Automation

Mjesto i datum
Rim, Italija, 10.04.2004. - 14.04.2004

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
path planning; moving obstacle avoiding; motion control

Sažetak
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 fictive 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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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