A Hybrid Collision Avoidance Method for Mobile Robots

Proposes a hybrid approach to the problem of collision avoidance for indoor mobile robots. The /spl mu/DWA (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.

Authors

• Dieter Fox
• Wolfram Burgard
• Sebastian Thrun
• Armin B. Cremers

Keywords

• Collision avoidance
• Mobile robots
• Robot sensing systems
• Glass
• Acoustic sensors
• Computer science
• Sonar detection
• Legged locomotion
• Testing
• Robot control
• Mobile Robot
• Sensor Data
• Dynamic Approach
• Environment Map
• High Probability
• Probability Density Function
• Angular Velocity
• Walking Speed
• Lookup Table
• Local Problems
• Maximum Likelihood Approach
• Angular Resolution
• Sensor Readings
• Hard Constraints
• Ambiguous Situations
• Position Of The Robot
• Robot Navigation
• Laser Ranging
• Soft Constraints
• Elegant Way
• Virtual Sensors
• Safe Navigation
• Absolute Certainty
• Velocity Of The Robot
• Single Position
• Direction Of Motion
• Error Probability
• Single Estimate