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[Advanced Control Systems Group] [Autonomous Mobile Robotics Group]





Path Planning and Motion Control


Simulation and real movies

Movies and Papers


Unknown static obstacles

Movie1: Integrated FD* and DW algorithms ensure computationally simple guiding of the robot to the goal in the presence of many unknown static obstacles.

Closing the door

Movie 1: The movie was recorded by the camera installed in the environment, close to the robot.

Movie 2: The movie was recorded by the camera mounted on the top of the robot.

Moving obstacles avoiding

Movie 1: The robot (the red one) avoids moving obstacles that travel at constant speed and heading through a long narrow corridor.

Movie 2: Three robots meet in a corridor - moving obstacle avoidance isn't implemented; there is no communication between robots

Movie 3: Three robots meet in a corridor - moving obstacle avoidance implemented; there is no communication between robots

Relevant papers

For more details see our papers:

1. An integrated approach to real-time mobile robot control in partially known indoor environments

2. Motion Control of Mobile Robots in Indoor Dynamic Environments

3. Dynamic window based approach to mobile robot motion control in the presence of moving obstacles


Up: Path Planning and Motion Control Previous: Moving Obstacle Avoidance

 

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