Publication

Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

Roland Siegwart, Roland Philippsen
2003
Conference Papers

Abstract

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well as goal-directedness. Apart from modifications to the DWA and the elastic band, we present the formulations that allow this fusion.

Official source

https://infoscience.epfl.ch/entities/publication/648c3d82-e6de-4d28-9331-664a4ed6e6eb

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Roland Siegwart, Roland Philippsen
2003
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/648c3d82-e6de-4d28-9331-664a4ed6e6eb

About this result

Related concepts (13)

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.

Robot

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.

Computational science

Computational science, also known as scientific computing, technical computing or scientific computation (SC), is a division of science that uses advanced computing capabilities to understand and solve complex physical problems. This includes Algorithms (numerical and non-numerical): mathematical models, computational models, and computer simulations developed to solve sciences (e.

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Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

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