TY - GEN
T1 - Dynamic window approach for omni-directional robots with polygonal shape
AU - Lawitzky, Andreas
AU - Althoff, Daniel
AU - Wollherr, Dirk
AU - Buss, Martin
PY - 2011
Y1 - 2011
N2 - This work presents an extension of the Dynamic Window Approach. The reactive collision avoidance algorithm is generalized 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.
AB - This work presents an extension of the Dynamic Window Approach. The reactive collision avoidance algorithm is generalized 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.
UR - http://www.scopus.com/inward/record.url?scp=84871680394&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980151
DO - 10.1109/ICRA.2011.5980151
M3 - Conference contribution
AN - SCOPUS:84871680394
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2962
EP - 2963
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -