D. Fox, W. Burgard, and S. Thrun
The Dynamic Window Approach to
Collision Avoidance
IEEE Robotics and Automation Magazine
Abstract
This paper describes the dynamic window approach to reactivecollision avoidance
for mobile robots equipped withsynchro-drives. The approach is derived directly
from themotion dynamics of the robot and is therefore particularlywell-suited
for robots operating at high speed. It differsfrom previous approaches in
that the search for commandscontrolling the translational and rotationalvelocity
of therobot is carried out directly in the space of velocities. Theadvantage
of our approach is that it correctly and in anelegant way incorporatesthe
dynamics of the robot. This isdone by reducing the search space to thedynamic
window,which consists of the velocities reachable withina short timeinterval.
Within the dynamic window the approach onlyconsidersadmissible velocities
yielding a trajectory on whichthe robot is able tostop safely. Among these
velocities thecombination of translational androtational velocity is chosenby
maximizing an objective function. The objectivefunctionincludes a measure
of progress towards a goal location, theforwardvelocity of the robot, and
the distance to the nextobstacle on the trajectory. In extensive experiments
theapproach presented here has been found to safelycontrol ourmobile robot
RHINO with speeds of up to 95 cm/sec, in populatedand dynamic environments.
Download
Full paper [.ps.gz]
(439 kb, 23 pages)
Bibtex
@INPROCEEDINGS{Fox97Dyn,
AUTHOR = {Fox, D. and Burgard, W. and Thrun, S.},
TITLE = {The Dynamic Window Approach to Collision Avoidance},
JOURNAL = {{IEEE}Robotics \& Automation Magazine},
VOLUME = {4},
NUMBER = {1},
YEAR = {1997}
}