A hybrid obstacle avoidance method: follow the gap with dynamic window approach

Aykut Ozdemir; Volkan Sezer

doi:10.1109/IRC.2017.25

A hybrid obstacle avoidance method: follow the gap with dynamic window approach

Aykut Ozdemir, Volkan Sezer

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

34 Atıf (Scopus)

Özet

Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics is possible. On the other hand, FGM calculates a desired heading angle but it does not give linear and angular velocity reference. Dynamic Window Approach (DWA) is one of the most popular obstacle avoidance algorithm which does take robot dynamics into consideration. It calculates best angular and linear velocity pair which is chosen by an objective function. In this paper, a FGM-DW approach which uses the strongest elements of FGM and DWA methods to achieve safe, smooth and fast navigation is proposed. The FGM-DW approach provides these concerns and meets the low level angular and rotational velocity requirement of FGM.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	257-262
Sayfa sayısı	6
ISBN (Elektronik)	9781509067237
DOI'lar	https://doi.org/10.1109/IRC.2017.25
Yayın durumu	Yayınlandı - 11 May 2017
Etkinlik	1st IEEE International Conference on Robotic Computing, IRC 2017 - Taichung, Taiwan, Province of China Süre: 10 Nis 2017 → 12 Nis 2017

Yayın serisi

Adı	Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	1st IEEE International Conference on Robotic Computing, IRC 2017
Ülke/Bölge	Taiwan, Province of China
Şehir	Taichung
Periyot	10/04/17 → 12/04/17

Bibliyografik not

Publisher Copyright:
© 2017 IEEE.

Belgeye Erişim

10.1109/IRC.2017.25

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Ozdemir, A., & Sezer, V. (2017). A hybrid obstacle avoidance method: follow the gap with dynamic window approach. In Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017 (pp. 257-262). Makale 7926547 (Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2017.25

@inproceedings{3240428622c049cfac369aaa6a628e29,

title = "A hybrid obstacle avoidance method: follow the gap with dynamic window approach",

abstract = "Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics is possible. On the other hand, FGM calculates a desired heading angle but it does not give linear and angular velocity reference. Dynamic Window Approach (DWA) is one of the most popular obstacle avoidance algorithm which does take robot dynamics into consideration. It calculates best angular and linear velocity pair which is chosen by an objective function. In this paper, a FGM-DW approach which uses the strongest elements of FGM and DWA methods to achieve safe, smooth and fast navigation is proposed. The FGM-DW approach provides these concerns and meets the low level angular and rotational velocity requirement of FGM.",

keywords = "Dynamic Window Approach, Follow the Gap Method, Obstacle Avoidance, Robot Operating System",

author = "Aykut Ozdemir and Volkan Sezer",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 1st IEEE International Conference on Robotic Computing, IRC 2017 ; Conference date: 10-04-2017 Through 12-04-2017",

year = "2017",

month = may,

day = "11",

doi = "10.1109/IRC.2017.25",

language = "English",

series = "Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "257--262",

booktitle = "Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017",

address = "United States",

}

Ozdemir, A & Sezer, V 2017, A hybrid obstacle avoidance method: follow the gap with dynamic window approach. in Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017., 7926547, Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 257-262, 1st IEEE International Conference on Robotic Computing, IRC 2017, Taichung, Taiwan, Province of China, 10/04/17. https://doi.org/10.1109/IRC.2017.25

A hybrid obstacle avoidance method: follow the gap with dynamic window approach. / Ozdemir, Aykut; Sezer, Volkan.
Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 257-262 7926547 (Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - A hybrid obstacle avoidance method

T2 - 1st IEEE International Conference on Robotic Computing, IRC 2017

AU - Ozdemir, Aykut

AU - Sezer, Volkan

PY - 2017/5/11

Y1 - 2017/5/11

N2 - Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics is possible. On the other hand, FGM calculates a desired heading angle but it does not give linear and angular velocity reference. Dynamic Window Approach (DWA) is one of the most popular obstacle avoidance algorithm which does take robot dynamics into consideration. It calculates best angular and linear velocity pair which is chosen by an objective function. In this paper, a FGM-DW approach which uses the strongest elements of FGM and DWA methods to achieve safe, smooth and fast navigation is proposed. The FGM-DW approach provides these concerns and meets the low level angular and rotational velocity requirement of FGM.

AB - Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics is possible. On the other hand, FGM calculates a desired heading angle but it does not give linear and angular velocity reference. Dynamic Window Approach (DWA) is one of the most popular obstacle avoidance algorithm which does take robot dynamics into consideration. It calculates best angular and linear velocity pair which is chosen by an objective function. In this paper, a FGM-DW approach which uses the strongest elements of FGM and DWA methods to achieve safe, smooth and fast navigation is proposed. The FGM-DW approach provides these concerns and meets the low level angular and rotational velocity requirement of FGM.

KW - Dynamic Window Approach

KW - Follow the Gap Method

KW - Obstacle Avoidance

KW - Robot Operating System

UR - http://www.scopus.com/inward/record.url?scp=85020198579&partnerID=8YFLogxK

U2 - 10.1109/IRC.2017.25

DO - 10.1109/IRC.2017.25

M3 - Conference contribution

AN - SCOPUS:85020198579

T3 - Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017

SP - 257

EP - 262

BT - Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 10 April 2017 through 12 April 2017

ER -

Ozdemir A, Sezer V. A hybrid obstacle avoidance method: follow the gap with dynamic window approach. In Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 257-262. 7926547. (Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017). doi: 10.1109/IRC.2017.25

A hybrid obstacle avoidance method: follow the gap with dynamic window approach

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap