C. Stachniss, W. Burgard
An Integrated Approach to Goal-directed Obstacle Avoidance
under Dynamic Constraints for Dynamic Environments
In Proc. of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), 2002.
Abstract
Whenever robots are installed in populated environments,
they need appropriate techniques to avoid collisions with unexpected
obstacles. Over the past years several reactive techniques have been
developed that use heuristic evaluation functions to choose
appropriate actions whenever a robot encounters an unforeseen
obstacle. Whereas the majority of these approaches determines only
the next steering command, some additionally consider sequences of
possible poses. However, they generally do not consider sequences of
actions in the velocity space. Accordingly, these methods are not
able to slow down the robot early enough before it has to enter a
narrow passage. In this paper we present a new approach that
integrates path planning with sensor-based collision avoidance. Our
algorithm simultaneously considers the robot's pose and velocities
during the planning process. We employ different strategies to deal
with the huge state space that has to be explored. Our method has
been implemented and tested on real robots and in simulation runs.
Extensive experiments demonstrate that our technique can reliably
control mobile robots moving at high speeds.
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Bibtex
@InProceedings{Stachniss02Integrated,
author = {Stachniss, C. and Burgard,
W.},
title = {An Integrated Approach to Goal-directed Obstacle Avoidance
under Dynamic Constraints for Dynamic Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2002},
}