Extending collision avoidance methods to consider the vehicle shape, kinematics, and dynamics of a mobile robot

IEEE Transactions on Robotics

Volumn 25, Issue 2, 2009, Pages 367-381

  Minguez, Javier ^a   Montano, Luis ^a  

^a UNIVERSITY OF ZARAGOZA   (Spain)

Author keywords

Mobile robots; Motion constraints; Reactive collision avoidance

Indexed keywords

DYNAMIC CONSTRAINTS; MOTION CONSTRAINTS; REACTIVE COLLISION AVOIDANCE;

DYNAMICS; KINEMATICS; MOBILE ROBOTS;

ROBOTICS;

EID: 67349220713     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2011526     Document Type: Article

References (42)

1. J. Alvarez, A. Shkel, and V. Lumelsky, "Building topological models for navigation in large scale environments," presented at the IEEE Int. Conf. Robot. Autom., Leuven, Belgium, 1998.
2. R. Arkin, Behavior-Based Robotics. Cambridge, MA: MIT Press, 1999.
3. K. Arras, J. Persson, N. Tomatis, and R. Siegwart, "Real-time obstacle avoidance for polygonal robotswith a reduced dynamic window.," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, 2002, pp. 3050-3055.
4. J. Asensio and L. Montano, "A kinematic and dynamic model-based motion controller for mobile robots," presented at the 15th IFAC World Congr., Barcelona, Spain, 2002.
5. A. Bemporad, A. D. Luca, and G. Oriolo, "Local incremental planning for car-like robot navigating among obstacles," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, 1996, pp. 1205-1211.
6. J. A. Beyanas, J. Fernandez, R. Sanz, and A. Dieguez, "The beam-curvature method: A new approach for improving local real-time obstacle avoidance," presented at the 15th IFAC World Congr., Barcelona, Spain, 2002.
7. J. Blanco, J. Gonzalez, and J. Fernandez-Madrigal, "Extending obstacle avoidance methods through multiple parameter-space transformations," Auton. Robots, vol. 24, no. 1, pp. 29-48, Jan. 2008.
8. J. Borenstein and Y. Koren, "Real-time obstacle avoidance for fast mobile robots," IEEE Trans. Syst., Man, Cybern., vol. 19, no. 5, pp. 1179-1187, Sep./Oct. 1989.
9. J. Borenstein and Y. Koren, "The vector field histogram - Fast obstacle avoidance for mobile robots," IEEE Trans. Robot. Autom., vol. 7, no. 3, pp. 278-288, Jun. 1991.
10. O. Brock and O. Khatib, "High-speed navigation using the global dynamic window approach," in Proc. IEEE Int. Conf. Robot. Autom., Detroit, MI, 1999, pp. 341-346.
11. O. Brock and O. Khatib, "Real-time replanning in high-dimensional configuration spaces using sets of homotopic paths," in Proc. IEEE Int. Conf. Robot. Autom., San Francisco, CA, 2000, pp. 550-555.
12. D. Conner, H. Choset, and A. Rizzi, "Integrated planning and control for convex-bodied nonholonomic systems using local feedback control policies," presented at the Robot.: Sci. Syst., Philadelphia, PA, Aug. 2006.
13. W. Feiten, R. Bauer, and G. Lawitzky, "Robust obstacle avoidance in unknown and cramped environments," in Proc. IEEE Int. Conf. Robot. Autom., San Diego, CA, 1994, pp. 2412-2417.
14. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance," IEEE Robot. Autom. Mag., vol. 4, no. 1, pp. 23-33, Mar. 1997.
15. T. Fraichard and H. Asama, "Inevitable collision states. A step towards safer robots?," Adv. Robot., vol. 18, no. 10, pp. 1001-1024, 2004.
16. A. Hait, T. Simeon, and M. Taix, "Robust motion planning for rough terrain navigation," in Proc. IEEE-RSJ Int. Conf. Intell. Robots Syst., Kyongju, Korea, 1999, pp. 11-16.
17. M. Hebert, C. Thorpe, and A. Stentz, Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon. Norwell, MA: Kluwer, 1997.
18. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," Int. J. Robot. Res., vol. 5, pp. 90-98, 1986.
19. N. Ko and R. Simmons, "The lane curvature velocity method for local obstacle avoidance," presented at the IEEE-RSJ Int. Conf. Intell. Robots Syst., Victoria, Canada, 1998.
20. Y. Koren and J. Borenstein, "Potential field methods and their inherent limitations for mobile robot navigation," in Proc. IEEE Int. Conf. Robot. Autom., vol. 2, Sacramento, CA, 1991, pp. 1398-1404.
21. B. H. Krogh and C. E. Thorpe, "Integrated path planning and dynamic steering control for autonomous vehicles," in Proc. IEEE Int. Conf. Robot. Autom., San Francisco, CA, 1986, pp. 1664-1669.
22. J. C. Latombe, Robot Motion Planning. Norwell, MA: Kluwer, 1991.
23. J. Laumond, S. Sekhavat, and F. Lamiraux, "Guidelines in nonholonomic motion planning for mobile robots," Robot Motion Plann. Control, vol. 229, pp. 1-54, 1998.
24. A. D. Luca and G. Oriolo, "Local incremental planning for nonholonomic mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., San Diego, CA, 1994, pp. 104-110.
25. V. Lumelsky and A. Shkel, "Incorporating body dynamics into the sensor-based motion planning paradigm. the maximum turn strategy," presented at the IEEE Int. Conf. Robot. Autom., Nagoya, Japan, 1995.
26. J. Minguez and L. Montano, "Robot navigation in very complex and cluttered indoor/outdoor scenairos," presented at the 15th IFAC World Congr., Barcelona, Spain, 2002.
27. J. Minguez and L. Montano, "The ego-kinodynamic space: Collision avoidance for any shape mobile robots with kinematic and dynamic constraints," in Proc. IEEE-RSJ Int. Conf. Intell. Robots Syst., Las Vegas, NV, 2003, pp. 637-643.
28. J. Minguez and L. Montano, "Nearness diagram (ND) navigation: Collision avoidance in troublesome scenarios," IEEE Trans. Robot. Autom., vol. 20, no. 1, pp. 45-59, Feb. 2004.
29. J. Minguez and L. Montano, "Sensor-based robot motion generation in unknown, dynamic and troublesome scenarios," Robot. Auton. Syst., vol. 52, no. 4, pp. 290-311, 2005.
30. J. Minguez, L. Montano, and O. Khatib, "Reactive collision avoidance for navigation at high speeds or systems with slow dynamics," in Proc. IEEE-RSJ Int. Conf. Intell. Robots Syst., Lausanne, Switzerland, 2002, pp. 588-594.
31. J. Minguez, L. Montano, and J. Santos-Victor, "Abstracting the vehicle shape and kinematic constraints from the obstacle avoidance methods," Auton. Robots, vol. 20, no. 1, pp. 43-59, 2006.
32. P. Ogren and N. Leonard, "A tractable convergent dynamic window approach to obstacle avoidance," presented at the IEEE Int. Conf. Robot. Autom., Laussane, Switzerland, 2002.
33. R. Philipsen and R. Siegwart, "Smooth and efficient obstacle avoidance for a tour guide robot," presented at the IEEE Int. Conf. Robot. Autom., Taipei, Taiwan, 2003.
34. S. Quinlan and O. Khatib, "Elastic bands: Connecting path planning and control," in Proc. IEEE Int. Conf. Robot. Autom., Atlanta, GA, 1993, vol. 2, pp. 802-807.
35. C. Schlegel, "Fast local obstacle avoidance under kinematic and dynamic constraints for a mobile robot," presented at the IEEE/RSJ Int. Conf. Intell. Robots Syst., Canada, 1998.
36. C. Schlegel, "Navigation and execution for mobile robots in dynamic environments: An integrated approach," Ph.D. thesis, Universität Ulm, Ulm, Germany, 2004.
37. R. Simmons, "The curvature-velocity method for local obstacle avoidance," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, 1996, pp. 3375-3382.
38. C. Stachniss and W. Burgard, "An integrated approach to goal-directed obstacle avoidance under dynamic constraints for dynamic environments," in Proc. IEEE-RSJ Int. Conf. Intell. Robots Syst., 2002, Switzerland, pp. 508-513.
39. R. B. Tilove, "Local obstacle avoidance for mobile robots based on the method of artificial potentials," in Proc. IEEE Int. Conf. Robot. Autom., Cincinatti, OH, 1990, vol. 2, pp. 566-571.
40. I. Ulrich and J. Borenstein, "VFH+: Reliable obstacle avoidance for fast mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., 1998, pp. 1572-1577.
41. I. Ulrich and J. Borenstein, "VFH*: Local obstacle avoidance with look-ahead verification," in Proc. IEEE Int. Conf. Robot. Autom., San Francisco, CA, 2000, pp. 2505-2511.
42. T. Wilkman, M. Branicky, and W. Newman, "Reflexive collision avoidance: A generalized approach," presented at the IEEE Int. Conf. Robot. Autom., Atlanta, GA, 1993.