ICRA 2011 Paper Abstract


Paper WeAV115.2

Lawitzky, Andreas (Technische Universität München), Althoff, Daniel (Technische Universität München), Wollherr, Dirk (Technische Universität München), Buss, Martin (Technische Universität München)

Dynamic Window Approach for Omnidirectional Robots with Polygonal Shape

Scheduled for presentation during the Video Sessions "Video Session I: Aerial and Mobile Robotics" (WeAV115), Wednesday, May 11, 2011, 08:28−08:36, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Collision Avoidance, Robot Safety, Motion and Path Planning


This work presents an extension of the Dynamic Window Approach. The reactive collision avoidance algorithm is extended to the case of omni-directional kinematics for any polygonal shaped, mobile robot. This paper includes a superior implementation to former realizations and has already been successfully tested with an omni-directional robot. The implementation is efficient and produces collision-free trajectories even in narrow and crowded environments.



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