We consider the problem of navigating a mobile robot through dense human crowds. We begin by exploring a fundamental impediment to classical motion planning algorithms called the ‘‘freezing robot problem’’: once the environment surpasses a certain level of dynamic complexity, the planner decides that all forward paths are unsafe, and the robot freezes in place (or performs unnecessary maneuvers...

In real world scenarios for mobile robots, socially acceptable navigation is a key component to interact naturally with other persons. On the one hand this enables a robot to behave more human-like, and on the other hand it increases the acceptance of the user towards the robot as an interaction partner. As part of this research field, we present in this paper a strategy of approaching a person...

Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generatlization of ...

This paper presents improvements over the Dynamic Window Approach (I-DWA), used for computing in real time autonomous robot navigation. A novel objective function that includes Lyapunov stability criteria is proposed. It allows to guarantee a global and asymptotic convergence to the goal avoiding collisions and resulting in a more simple and self-contained approach. Experimental results with si...

Ali K. Nahar University of Technology, Department of Electrical Engineering Abstract A first order of DWA (data weighted averaging) technique is proposed to improve 6-bit digital-to-analog convertor (DAC). In addition, this paper discusses the impact of mismatch between DAC unit elements. The simulation results show the effectiveness of the DWA technique in reduction of inband tones, also DWA t...

In this paper, it is shown how a mobile robot can navigate with high speed in dynamic real environment. Our control scheme is developed based on the dynamic window approach [2]. Although the mobile robot is able to navigate using the DWA, there is a fundamental limitation that the robot can avoid only “visible” obstacles. There are many dangerous regions where dynamic obstacles appear abruptly,...

This paper describes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchro-drives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly well-suited for robots operating at high speed. It di ers from previous approaches in that the search for commands controlling the translational and rotational velocit...

This paper evaluates and compare three stateof-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach; it is henceforth called TVDW which stands for Time-Varying Dynamic Window. The second one called NLVO builds upon the concept of Non Linear Velocity Obstacle which is a generalization of the Velocity...

In order to allow for flexible realization of diverse navigation tasks of mobile robots, objective-based motion planner proved to be very successful. The quality of a selected control command for a certain time step is inherently connected to the considered diversity of future trajectories. Therefore, we propose an evolutionary motion planning (EMP) method to solve this high-dimensional search ...