Dynamic window based approaches for avoiding obstacles in moving

Molinos, Eduardo; Llamazares, Ángel; Ocaña, Manuel

Research areas:

• Robotics

Year: 2019

Type of Publication: Article

Keywords: Dynamic obstacle avoidance; Dynamic window; Mapping

Journal: Robotics and Autonomous Systems

Volume: 118

Pages: 112 - 130

ISSN: 0921-8890

DOI: https://doi.org/10.1016/j.robot.2019.05.003

Abstract:

In recent years, Unmanned Ground Vehicles (UGVs) have been widely used as service robots. Unlike industrial robots, which are situated in fixed and controlled positions, UGVs work in dynamic environments, sharing the environment with other vehicles and humans. These robots should be able to move without colliding with any obstacle, assuring its integrity and the environment safety. In this paper, we propose two adaptations of the classical Dynamic Window algorithm for dealing with dynamic obstacles like Dynamic Window for Dynamic Obstacles (DW4DO) and Dynamic Window for Dynamic Obstacles Tree (DW4DOT). These new algorithms are compared with our previous algorithms based on Curvature Velocity Methods: Predicted Curvature Velocity Method (PCVM) and Dynamic Curvature Velocity Method (DCVM). Proposals have been validated in both simulated and real environment using several robotic platforms.