D. Fox, W. Burgard, S. Thrun, and A.B. Cremers
A Hybrid Collision AvoidanceMethod
For Mobile Robots
Proc. of the IEEE International Conference on Robotics
and Automation (ICRA'98)
Abstract
This paper proposes a hybrid approach to the problem of collision avoidance
for indoor mobile robots. The model-based dynamic window approach integrates
sensor data from various sensors with information extracted from a map of
the environment, to generate collision-free motion. A novel integration
ruleensures that with high likelihood, the robot avoids collisions with obstacles
not detectable with its sensors, even if it is uncertain about its position.
The approach was recently implemented and tested extensively as part of an
installation, in which a mobile robot gave interactive tours to visitorsofthe
``Deutsches Museum Bonn.'' Here our approach was essential for thesuccessof
the entiremission, because a large number of ill-shaped obstaclesprohibitedthe
use of purely sensor-based methods for collision avoidance.
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Bibtex
@INPROCEEDINGS{Fox98Hyb,
AUTHOR = {Fox, D. and Burgard, W. and Thrun, S. andCremers,
A.B.},
TITLE = {A Hybrid Collision Avoidance Method For Mobile
Robots},
BOOKTITLE = {Proc.~of the IEEE International Conference on Robotics
\& Automation},
YEAR = {1998}
}