Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot
dc.contributor.author
Philippsen, Roland
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2024-02-06T12:11:25Z
dc.date.available
2017-06-11T06:58:58Z
dc.date.available
2017-10-04T07:38:22Z
dc.date.available
2024-02-06T12:11:25Z
dc.date.issued
2003
dc.identifier.isbn
0-7803-7737-0
en_US
dc.identifier.isbn
0-7803-7736-2
en_US
dc.identifier.other
10.1109/ROBOT.2003.1241635
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/82557
dc.identifier.doi
10.3929/ethz-a-010090681
dc.description.abstract
We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well BS goal-directedness. Apart from madifications to the DWA and the elastic band, we present the formulations that allow this fusion.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
MOTION PLANNING + MOTION COURSE + TRAJECTORY PLANNING (ROBOTICS)
en_US
dc.subject
BEWEGUNGSVERLAUF + BEWEGUNGSABLAUF + BAHNPLANUNG (ROBOTIK)
en_US
dc.title
Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2014
ethz.book.title
2003 IEEE International Conference on Robotics and Automation
en_US
ethz.journal.volume
1
en_US
ethz.pages.start
446
en_US
ethz.pages.end
451
en_US
ethz.code.ddc
DDC - DDC::6 - Technology, medicine and applied sciences::621.3 - Electric engineering
en_US
ethz.event
IEEE International Conference on Robotics and Automation (ICRA 2003)
en_US
ethz.event.location
Taipei, Taiwan
en_US
ethz.event.date
September 14-19, 2003
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-11T07:00:04Z
ethz.source
ECOL
ethz.source
ECIT
ethz.identifier.importid
imp59366b54e0ab046694
ethz.identifier.importid
imp593651c8558d349145
ethz.ecolpid
eth:8221
ethz.ecitpid
pub:130144
ethz.eth
no
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-07-13T16:55:53Z
ethz.rosetta.lastUpdated
2024-02-02T02:33:16Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
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