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A hybrid collision avoidance method for mobile robots

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4 Author(s)
Fox, D. ; Comput. Sci. Dept. III, Bonn Univ., Germany ; Burgard, W. ; Thrun, S. ; Cremers, A.B.

Proposes a hybrid approach to the problem of collision avoidance for indoor mobile robots. The μDWA (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 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

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:2 )

Date of Conference:

16-20 May 1998