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Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments (CROSBI ID 602256)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Đakulović, Marija ; Sprunk, Christoph ; Spinello, Luciano ; Petrović, Ivan ; Burgard, Wolfram Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments // IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, Conference Digest / Sugano, Shigeki ; Kaneko, Makoto (ur.). Tokyo, 2013. str. 2644-2649

Podaci o odgovornosti

Đakulović, Marija ; Sprunk, Christoph ; Spinello, Luciano ; Petrović, Ivan ; Burgard, Wolfram

engleski

Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments

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.

Navigation; Motion and Path Planning; Integrated Planning and Control

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Podaci o prilogu

2644-2649.

2013.

objavljeno

Podaci o matičnoj publikaciji

IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, Conference Digest

Sugano, Shigeki ; Kaneko, Makoto

Tokyo:

Podaci o skupu

IEEE/RSJ International Conference on Intelligent Robots and Systems

predavanje

03.11.2013-08.11.2013

Tokyo, Japan

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti