Pilot - modular robot navigation for real-world applications
E. Einhorn, T. Langner · Common Library Network (Der Gemeinsame Bibliotheksverbund) · 2010
For robot navigation the E*-Algorithm and the Dynamic Window Approach (DWA) have emerged as a de facto standard for path and motion planning.Based on these algorithms we present a generic solution for robot navigation that is applicable for both holonomic and non-holonomic robots.We propose a number of improvements and extensions that help to overcome several limitations of the original implementations and that are required for robots in daily operation.We introduce an adaptive Dynamic Window that allows a fine-grained control of the robot's actuators enabling the system to navigate with an inch-perfect precision while reducing the computational complexity.Furthermore, we present the flexible and modular design of our navigation approach that enables its usage in many different real-world applications.