The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Path Planning for Autonomous Mobile Robots by Modified Global DWA

수정된 전역 DWA에 의한 자율이동로봇의 경로계획

  • 윤희상 (충북대 제어로봇공학과) ;
  • 박태형 (충북대 전자공학부 및 컴퓨터정보통신 연구소)
  • Received : 2010.12.14
  • Accepted : 2011.01.19
  • Published : 2011.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

The global dynamic window approach (DWA) is widely used to generate the shortest path of mobile robots considering obstacles and kinematic constraints. However, the dynamic constraints of robots should be considered to generate the minimum-time path. We propose a modified global DWA considering the dynamic constraints of robots. The reference path is generated using A* algorithm and smoothed by cardinal spline function. The trajectory is then generated to follows the reference path in the minimum time considering the robot dynamics. Finally, the local path is generated using the dynamic window which includes additional terms of speed and orientation. Simulation and experimental results are presented to verify the performance of the proposed method.

Keywords

References

  1. R. Siegwart, I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots, The MIT Press, 2004.
  2. D. Fox, W. Burgard, S. Thrun, "The dynamic window approach to collision avoidance," IEEE Robotics and Automation Magazine, pp. 23-33, 1997.
  3. E. Demeester, M. Nuttin, D. Vanhooydonck, G. Vanacker, H. Van Brussel, "Global dynamic window approach for holonomic and non-holonomic mobile robots with arbitrary cross-section," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2694-2699, 2005.
  4. S. Qinlan, O.Khatib, "Elastic bands: connecting path planning and control," In Proceedings of IEEE Int. Conf. on Robotics and Automation, 1993.
  5. J. Borenstein, Y. Koren, "The vector field histogram - fast obstacle avoidance for mobile robots," Journal of Robotics and Automation, vol. 7, pp. 278-288, 1999.
  6. O. Brock, O. Khatib, "High-speed navigation using the global dynamic window approach," In Proceeding of the IEEE Intl. Conf. on Robotics and Automation, pp. 341-346, 1999.
  7. R.Philippsen, R.Siegwart, "Smooth and efficient obstacle avoidance for a tour guide robot", In Proceeding of the IEEE Intl. Conf. on Robotics and Automation, pp. 446-451, 2003.
  8. A. Stentz, "Optimal and Efficient Path Planning for Partially - Known Environments," ICRA'94, IEEE International Conference on Robotics and Automation, vol. 4, pp. 3310-3317, 1994.
  9. 함종규, 박중태, 송재복, "최적경유점을 갖는 전역 DWA에 기반한 이동로봇의 주행", 제어자동화시스템공학 논문지, 13권, 7호, 624-630, 2007.
  10. V. B. Anand, computer graphics & geometric modeling for engineers, J. Wiley, 1993.
  11. 윤희상, 박태형, "카디널스플라인을 이용한 자율이동로봇의 곡선경로 생성방법", 전기학회논문지, 59권, 4호, 803-808, 2010.
  12. 윤희상, 박태형, "동적프로그래밍을 이용한 자율이동로봇의 동작계획", 제어자동화시스템공학 논문지, 16권, 1호, 53-60, 2010.
  13. M. Yamamoto, M. Iwamura, A. Mohri, "Quasi-time-optimal motion planning of mobile platforms in the presence of obstacles," IEEE/RSJ Int. Conf. On Intelligent Robot and Systems, vol. 4. pp. 2958-2963, 1999.
  14. M. Seder, K. Macek, I. Petrovic, "An integrated approach to real-time mobile robot control in partially known indoor environments," in In Proceeding of the 31st Annual Conference of the IEEE Industrial Electronics Society, pp. 1785-1790, 2005.
  15. D. Douglas, T. Peucker, "Algorithms for the reduction of the number of points required for represent a digitized line or its caricature," Canadian Cartographer, pp. 112-122, 1973.