THE DYNAMIC WINDOW APPROACH TO COLLISION-AVOIDANCE

Authors
FOX D BURGARD W THRUN S
Citation
D. Fox et al., THE DYNAMIC WINDOW APPROACH TO COLLISION-AVOIDANCE, IEEE robotics & automation magazine, 4(1), 1997, pp. 23-33
Citations number
16
Categorie Soggetti
Computer Sciences, Special Topics","Robotics & Automatic Control
Journal title
IEEE robotics & automation magazine → ACNP
ISSN journal
10709932
Volume
4
Issue
1
Year of publication
1997
Pages
23 - 33
Database
ISI
SICI code
1070-9932(1997)4:1<23:TDWATC>2.0.ZU;2-P
Abstract
This approach, designed for mobile robots equipped with synchro-drives , is derived directly from the motion dynamics of the robot, In experi ments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95cm/sec, in populated and dynamic environmen ts.