Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments

Dakulovic, Marija; Sprunk, Christoph; Spinello, Luciano; Petrovic, Ivan; Burgard, Wolfram

doi:10.1109/IROS.2013.6696729

Abstract
Platforms with holonomic drives are particularly interesting due to their maneuvering capabilities. Robots used for transportation tasks usually have a non-circular footprint. In this work, we present a navigation strategy for a holonomic mobile robot with anyshape footprint. Our technique introduces an efficient navigation method based on a strategy that makes use of discrete and continuous techniques. We introduce compact discrete intervals to represent the free space for computing fast-to-update plans. Based on these, we provide a continuous motion generation approach to generate smooth motions that are fast to compute. We evaluated our approach by running simulated experiments and by using a real holonomic L-shaped robot. Our experiments demonstrate that our technique can be carried out online and is able to smoothly drive the robot to its goal locations even in dynamic environments.

@INPROCEEDINGS{dakulovic13iros,
  author = {Marija Dakulovic and Christoph Sprunk and Luciano Spinello and Ivan Petrovic and Wolfram Burgard},
  title = {Efficient Navigation for  Anyshape Holonomic Mobile Robots in Dynamic Environments},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2644--2649},
  address = {Tokyo, Japan},
  year = {2013},
  month = nov,
  doi = {10.1109/IROS.2013.6696729}
}

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