Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well as goal-directedness. Apart from modifications to the DWA and the elastic band, we present the formulations that allow this fusion.


Presented at:
None, Taipei, Taiwan., 2003
Year:
2003
Keywords:
Laboratories:




 Record created 2006-12-07, last modified 2018-01-27

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