Dynamic window based approaches for avoiding obstacles in moving

descriptionPublicationkeyboard_double_arrow_right Article 01 Aug 2019 Spain, Germany English Publisher:Elsevier BVJournal:Robotics and Autonomous Systems, volume 118, pages 112-130 (issn: 0921-8890,

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Authors: Molinos Vicente, Eduardo José; Llamazares Llamazares, Ángel; Ocaña Miguel, Manuel;

doi: 10.1016/j.robot.2019.05.003

handle: 10017/64657

Dynamic window based approaches for avoiding obstacles in moving

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Abstract

In recent years, Unmanned Ground Vehicles (UGVs) have been widely used as service robots. Unlike industrial robots, which are situated in fixed and controlled positions, UGVs work in dynamic environments, sharing the environment with other vehicles and humans. These robots should be able to move without colliding with any obstacle, assuring its integrity and the environment safety. In this paper, we propose two adaptations of the classical Dynamic Window algorithm for dealing with dynamic obstacles like Dynamic Window for Dynamic Obstacles (DW4DO) and Dynamic Window for Dynamic Obstacles Tree (DW4DOT). These new algorithms are compared with our previous algorithms based on Curvature Velocity Methods: Predicted Curvature Velocity Method (PCVM) and Dynamic Curvature Velocity Method (DCVM). Proposals have been validated in both simulated and real environment using several robotic platforms.

Countries

Spain, Germany

Related Organizations

Karlsruhe Institute of Technology
Germany
University of Alcalá
Spain

Keywords

ddc:620, Mapping, Dynamic obstacle avoidance, Electrónica, Electronics, Engineering & allied operations, info:eu-repo/classification/ddc/620, Dynamic window, 620

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