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The Dynamic Window Approach to Collision Avoidance (1997)

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by Dieter Fox , Wolfram Burgard , Sebastian Thrun
Citations:228 - 34 self
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BibTeX

@MISC{Fox97thedynamic,
    author = {Dieter Fox and Wolfram Burgard and Sebastian Thrun},
    title = {The Dynamic Window Approach to Collision Avoidance},
    year = {1997}
}

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Abstract

This paper describes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchro-drives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly well-suited for robots operating at high speed. It differs from previous approaches in that the search for commands controlling the translational and rotational velocity of the robot is carried out directly in the space of velocities. The advantage of our approach is that it correctly and in an elegant way incorporates the dynamics of the robot. This is done by reducing the search space to the dynamic window, which consists of the velocities reachable within a short time interval. Within the dynamic window the approach only considers admissible velocities yielding a trajectory on which the robot is able to stop safely. Among these velocities the combination of translational and rotational velocity is chosen by maximizing an objective function. The objective fu...

Citations

1789 Robot Motion Planning - Latombe - 1991
315 Fusion in Certainty Grids for Mobile Robots - Moravec - 1988
278 The vector field histogram—fast obstacle avoidance for mobile robots - Borenstein, Koren - 1991
145 Real-time obstacle avoidance for fast mobile robots - Borenstein - 1989
131 Potential field methods and their inherent limitations for mobile robot navigation - Koren, Borenstein - 1991
99 The mobile robot RHINO - Buhmann, Burgard, et al. - 1995
87 Integrating grid-based and topological maps for mobile robot navigation - Thrun, Bücken - 1996
87 Map learning and high-speed navigation in RHINO - Thrun, Bücken, et al. - 1998
86 The Curvature-Velocity Method for Local Obstacle Avoidance - Simmons - 1996
64 Mobile Robots: Inspiration to Implementation - Jones - 1993
50 Exploration and model building in mobile robot domains - Thrun - 1993
29 where am I?” sensors and methods for autonomous mobile robot positioning - Feng, Borenstein, et al. - 1994
26 Planning, Geometry and Complexity of Robot Motion - Schwartz, Scharir, et al. - 1987
24 An Extended Potential Field Approach for Mobile Robot Sensor-Based Motions - Khatib, Chatila - 1995
23 A Bayesian Approach to RealTime Obstacle Avoidance for a Mobile Robot,” Autonomous Robots - Hu, Brady - 1994
17 Real-time obstacle avoidance for robot manipulator and mobile robots - Khatib - 1986
11 The vector eld histogram { fast obstacle avoidance for mobile robots - Borenstein, Koren - 1991
8 Where am I?" Sensors and methods for autonomous mobile robot positioning - Feng, Borenstein, et al. - 1994
8 Complexity of Robot Motion - Planning - 1987
4 Potential eld methods and their inherent limitations for mobile robot navigation - Koren, Borenstein - 1991
2 An extended potential eld approach for mobile robot sensor-based motions - Khatib, Chatila - 1995
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