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Published: 2013-05-25 at 13:50
Colloquium "Efficient navigation...

The 24th colloquium under the auspices of the ACROSS project held by dr. sc. Marija Đakulović.

Colloquium details
Title Efficient navigation for any-shape holonomic mobile robots
Speaker dr. sc. Marija Đakulović
Date 24. 5. 2013. 14:15 - 15:15
Location Faculty of Electrical Engineering and Computing, Gray Hall

More about the speaker and colloquium can be found in the detailed colloquium content.


Nowadays mobile robots get larger and applicable for industry, with shape no longer circular or convex. Furthermore, overhanging payloads increase the complexity of the resulting footprint. The talk presented a navigation strategy for an holonomic mobile robot with any-shape footprint, developed at Uni Freiburg. Many approaches in robotics approximate the robot with a circle in order to provide an efficient solution by searching in 2D space of positions. This assumption potentially limits the mobility of non-circular robots in narrow passages. Performing a search on a large 3D configuration space is computationally expensive and not suitable for online applications in dynamic environments, where new plans need to be recalculated within a short period of time. The talk presented a compact representation of the discretized free space to compute fast-to-update plans. In particular, they create a graph of valid orientation intervals on top of non-occupied locations on a grid map. Using this representation we furthermore introduce a continuous motion generation approach that computes smooth motions in highly reactive manner and is proven to be asymptotically stable. Efficiency of the approach both by simulations and experiments using a real holonomic L-shaped robot omniRob by KUKA was shown.

Marija Đakulović (born Seder) is a postdoctoral researcher and a senior assistant at UNIZG-FER. She received the M.Sc. degree in Electrical Engineering from the FER Zagreb in 2004. In 2010 she received a PhD degree at UNIZG-FER. Period from September 2012 to April 2013 she spent at the Autonomous System Laboratory, University of Freiburg, Germany, as a visiting researcher, working on navigation for rectangular-shape holonomic mobile robot omniRob by KUKA. Her main research interests are mobile robotics, especially path planning, motion planning, obstacle avoidance and environment exploration.

Mario Bukal
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ACROSS project has received research funding from the Seventh Framework Programme of the European Union (Grant Agreement No. 285939 FP7-REGPOT-2011-1).


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