High-speed navigation using the global dynamic window approach (1999)
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| Venue: | In IEEE Int. Conf. on Robotics and Automation |
| Citations: | 82 - 3 self |
BibTeX
@INPROCEEDINGS{Khatib99high-speednavigation,
author = {Oliver Brock Ussama. Khatib},
title = {High-speed navigation using the global dynamic window approach},
booktitle = {In IEEE Int. Conf. on Robotics and Automation},
year = {1999},
pages = {341--346}
}
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Abstract
Many applications in mobile robotics require the safe execution of a collision-free motion to a goal posi-tion. Planning approaches are well suited for achiev-ing a goal position in known static environments, while real-time obstacle avoidance methods allow re-active motion behavior in dynamic and unknown en-vironments. This paper proposes the global dynamic window approach as a generatlization of the dynamic window approach. It combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of high-velocity, goal-directed, reactive motion for a mobile robot in unknown and dynamic environments. The global dynamic window approach is applicable to non-holonomic and holonomic mobile robots. 1
