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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 as goal-directedness. Apart from modifications to the DWA and the elastic band, we present the formulations that allow this fusion.
Alcherio Martinoli, Chiara Ercolani, Wanting Jin, Faezeh Rahbar
Josephine Anna Eleanor Hughes, Francesco Stella