The dynamic window approach to collision avoidance

19973,571 citationsJournal Article

Authors

Sebastian Thrun · Carnegie Mellon University

Abstract

This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot. In experiments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95 cm/sec, in populated and dynamic environments.

Topics & Keywords

Robotic Path Planning Algorithms Modular Robots and Swarm Intelligence Robot Manipulation and Learning

Publication Details

Published in: IEEE Robotics & Automation Magazine

Volume 4, Issue 1, pp. 23-33

DOI: 10.1109/100.580977

Field-Weighted Citation Impact: 14.15

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The dynamic window approach to collision avoidance

Authors

Abstract

Topics & Keywords

Publication Details