D. Fox, W. Burgard, S. Thrun, and A.B. Cremers
A Hybrid Collision Avoidance Method For Mobile Robots
Proc. of the IEEE International Conference on Robotics and Automation (ICRA'98)
Abstract
This paper proposes a hybrid approach to the
problem of collision avoidance for indoor mobile robots. The
model-based dynamic window approach integrates sensor data from
various sensors with information extracted from a map of the
environment, to generate collision-free motion. A novel integration
rule ensures that with high likelihood, the robot avoids collisions
with obstacles not detectable with its sensors, even if it is
uncertain about its position. The approach was recently implemented
and tested extensively as part of an installation, in which a mobile
robot gave interactive tours to visitors of the ``Deutsches Museum
Bonn.'' Here our approach was essential for the success of the entire
mission, because a large number of ill-shaped obstacles prohibited the
use of purely sensor-based methods for collision avoidance.
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Bibtex
@INPROCEEDINGS{Fox98Hyb,
AUTHOR
= {Fox, D. and Burgard, W. and Thrun, S. and Cremers, A.B.},
TITLE
= {A Hybrid Collision Avoidance Method For Mobile Robots},
BOOKTITLE = {Proc.~of the IEEE International Conference on Robotics \& Automation},
YEAR
= {1998}
}