Publication

Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window

Roland Siegwart, Nicola Tomatis, Kai Oliver Arras
2002
Conference Papers

Abstract

In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model stage accounts for robot shape and dynamics using a reduced dynamic window. The planning stage produces collision-free local paths with a velocity profile. We present an analytical solution to the distance to collision problem for polygonal robots, avoiding thus the use of look-up tables. The approach has been tested in simulation and on two non-holonomic rectangular robots where a cycle time of 10 Hz was reached under full CPU load. During a longterm experiment over 5 km travel distance, the method demonstrated its practicability.

Official source

https://infoscience.epfl.ch/entities/publication/5d1a2d8b-551d-416b-af4f-a0d79cd8682a

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Roland Siegwart, Nicola Tomatis, Kai Oliver Arras
2002
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/5d1a2d8b-551d-416b-af4f-a0d79cd8682a

About this result

Related concepts (29)

Motion planning

Motion planning, also path planning (also known as the navigation problem or the piano mover's problem) is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs.

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Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

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A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

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