Reactive Avoidance of Dynamic Obstacles using the Behavior Network of the Interactive Behavior-Operated Shopping Trolley InBOT
Jahr:
2009
Autoren/Hrsg:
Michael Göller, Florian Steinhardt, Thilo Kerscher, J.Marius Zöllner and Rüdiger Dillmann
Publikationstyp:
Kongressbeitrag/Proceeding
Quelle:
12th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR09)
Abstract:
A main focus today is the introduction of robots into human all day environments. This paper describes the development of a service robot dedicated to commercial centers, i.e. an interactive Shopping Cart. The chosen environment often has a cluttered and nested character. It is full of dynamic objects which poses a high challenge to the robot's navigation system. It is not sufficient to avoid collisions with static obstacles, but it has to be able to handle dynamic (moving) objects in its close vicinity as well.
In this paper the development of a reactive behavior-based control that is able to actively avoid collisions with dynamic obstacles will be presented. It is not only able to prevent the robot from moving into the path of a moving object but it is able to free the probable path of the object self-dependently. Therefore it needs a spatio-temporal estimation of the movement of the objects. In this document the newly developed behaviors are introduced and experimental results are sketched.
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