Naslov
Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments

Autori
Đakulović, Marija ; Sprunk, Christoph ; Spinello, Luciano ; Petrović, Ivan ; Burgard, Wolfram

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

Izvornik
IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, Conference Digest / Sugano, Shigeki ; Kaneko, Makoto - Tokyo, 2013, 2644-2649

Skup
IEEE/RSJ International Conference on Intelligent Robots and Systems

Mjesto i datum
Tokyo, Japan, 03.11.2013. - 08.11.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Navigation; Motion and Path Planning; Integrated Planning and Control

Sažetak
Platforms with holonomic drives are particularly interesting due to their maneuvering capabilities. Robots used for transportation tasks usually have a non- circular footprint. In this work, we present a navigation strategy for a holonomic mobile robot with anyshape footprint. Our technique introduces an efficient navigation method based on a strategy that makes use of discrete and continuous techniques. We introduce compact discrete intervals to represent the free space for computing fast-to-update plans. Based on these, we provide a continuous motion generation approach to generate smooth motions that are fast to compute. We evaluated our approach by running simulated experiments and by using a real holonomic L-shaped robot. Our experiments demonstrate that our technique can be carried out online and is able to smoothly drive the robot to its goal locations even in dynamic environments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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