A convergent dynamic window approach to obstacle avoidance

Ögren, Petter; Leonard, Naomi Ehrich

doi:10.1109/tro.2004.838008

Cited by 264 publications

(158 citation statements)

References 14 publications

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“…(u 1(k) , u 2(k) ) is the control at time k. Now we change the robot model to (24) which are suitable for (9) with (19).…”

Section: Robot Modeling In Temporary Navigation Coordinatementioning

confidence: 99%

“…The obtained direction and velocity need to be implemented by a driving control method, such as Proportion Integration Differentiation (PID) control or other nonlinear controls. Navigation approaches mentioned above belong to classical Nonmodel Based Method, and are not adequate for taking internal robot constraints like shape and dynamics into account, see [24]. It is rather difficult to control a robot traveling in a high speed with dynamic and mechanical constraints.…”

Section: Introductionmentioning

confidence: 99%

“…The viability problem of linear system have been solved in [9],. The navigation method presented in [24] use Lyapunov function to construct a searching map for planar robot navigation. The performance of navigation is fast.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Liu

Gao

2016

Automatika

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Original scientific paperThe navigation efficiency of wheeled robots needs to be further improved. Although related research has proposed various approaches, most of them describe the relationship between the robot and the obstacle roughly. Viability theory concerns the dynamic adaptation of evolutionary systems to the environment. Based on viability, we explore a method that involves robot dynamic model, environmental constraints and navigation control. The method can raise the efficiency of the navigation. We treat the environment as line segments to reduce the computational difficulty for building the viability condition constraints. Although there exists lots of control values which can be used to drive the robot safely to the goal, it is necessary to build an optimization model to select a more efficient control value for the navigation. Our simulation shows that viability theory can precisely describe the link between robotic dynamics and the obstacle, and thus can help the robot to achieve radical high speed navigation in an unknown environment.Key words: Wheeled robot, Navigation, Obstacle avoidance, ViabilityOptimizacija upravljanja brzinom mobilnog robota s izbjegavanjem prepreka zasnovana na teoriji vijabilnosti. Postoji potreba za unaprije enjem učinkovitosti navigacije mobilnih robota. Iako su vezana istraži-vanja predložila različite pristupe, većina ne opisuje precizno odnos izme u robota i prepreke. Teorija vijabilnosti istražuje dinamičke adaptacije evolucijskih sustava njihovoj okolini. Učlanku istražujemo metodu koja može povećati učinkovitost navigacije, zasnovanu na vijabilnosti koja uključuje dinamički model robota, ograničenja okoline robota i samu navigaciju. Radna okolina predstavljena je ravnim crtama kako bi se smanjila računska složenost izgradnje ograničenja. Iako postoji veliki broj iznosa upravljačkih veličina koje bi sigurno uputile robota prema cilju, potrebno je izraditi optimizacijski model koji bi odabrao učinkovitiju upravljačku vrijednost za navigaciju. Izvedene simulacije pokazuju da teorija vijabilnosti može precizno opisati vezu izme u prepreke i dinamike robota te na taj način pomoći robotu da postigne radikalno veće brzine pri navigaciji u nepoznatim prostorima.

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“…(u 1(k) , u 2(k) ) is the control at time k. Now we change the robot model to (24) which are suitable for (9) with (19).…”

Section: Robot Modeling In Temporary Navigation Coordinatementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Liu

Gao

2016

Automatika

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“…Even though numerous methods for motion planning and trajectory optimization can be found in the literature, the trade-off between the optimality of the solution and the computational effort is still crucial. Stabilizing receding horizon controllers (RHC) are motion planners that avoid local minima [10,13]. For practical reasons, many methods assume that the state space is collision-free.…”

Section: Related Workmentioning

confidence: 99%

“…This problem can be solved by splitting the configuration space into convex parts and by optimizing them separately [10]. The convergent dynamic window approach (CDW) [13] uses an interpolated continuous version of the navigation function [7] as a control Lyapunov function. The previously mentioned methods solving the stabilization problem are based on continuous analysis.…”

Section: Related Workmentioning

confidence: 99%

Efficient navigation for anyshape holonomic mobile robots in dynamic environments

Đakulović

Sprunk

Spinello

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Platforms with holonomic drives are particularly interesting due to their maneuvering capabilities. Robots used for transportation tasks usually have a non-circular footprint. In this work, we present a navigation strategy for a holonomic mobile robot with anyshape footprint. Our technique introduces an efficient navigation method based on a strategy that makes use of discrete and continuous techniques. We introduce compact discrete intervals to represent the free space for computing fast-to-update plans. Based on these, we provide a continuous motion generation approach to generate smooth motions that are fast to compute. We evaluated our approach by running simulated experiments and by using a real holonomic L-shaped robot. Our experiments demonstrate that our technique can be carried out online and is able to smoothly drive the robot to its goal locations even in dynamic environments.

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Bibliography

2022

Embedded Control for Mobile Robotic Applications

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A convergent dynamic window approach to obstacle avoidance

Cited by 264 publications

References 14 publications

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Efficient navigation for anyshape holonomic mobile robots in dynamic environments

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