High-Speed Navigation Using the Global Dynamic Window Approach

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High-Speed Navigation Using the Global Dynamic Window Approach (1999)

by Oliver Brock , Oussama Khatib

Venue:	In IEEE Int. Conf. on Robotics and Automation
Citations:	134 - 3 self

BibTeX

@INPROCEEDINGS{Brock99high-speednavigation,
    author = {Oliver Brock and Oussama 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 position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. 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.

Keyphrases

global dynamic window approach high-speed navigation goal position reactive motion many application mobile robotics real-time obstacle avoidance method known static environment dynamic window approach unknown environment robust execution mobile robot dynamic environment planning approach collision-free motion real-time obstacle avoidance holonomic mobile robot reactive motion behavior motion planning safe execution

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