Smooth and efficient obstacle avoidance for a tour guide robot

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… (More)
DOI: 10.1109/ROBOT.2003.1241635

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