The dynamic window approach to collision avoidance
D. FoxDepartment of Computer Science, University of Bonn, Bonn, GermanyWolfram BurgardDepartment of Computer Science, University of Bonn, Bonn, GermanySebastian ThrunDepartment of Computer Science, Carnegie-Mellon University, Pittsburgh, PA
1997en
ABI
Abstract
This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot. In experiments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95 cm/sec, in populated and dynamic environments.
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