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A Convergent Dynamic Window Approach to Obstacle Avoidance
Mech. & Aerosp. Eng. Dept., Princeton Univ., NJ, USA.ORCID iD: 0000-0002-7714-928X
Mech. & Aerosp. Eng. Dept., Princeton Univ., NJ, USA.
2005 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, Vol. 21, no 2, 188-195 p.Article in journal (Refereed) Published
Abstract [en]

The dynamic window approach (DWA) is a well-known navigation scheme developed by Fox et al. and extended by Brock and Khatib. It is safe by construction, and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorithm's convergence properties. Here we present such a treatment by merging the ideas of the DWA with the convergent, but less performance-oriented, scheme suggested by Rimon and Koditschek. Viewing the DWA as a model predictive control (MPC) method and using the control Lyapunov function (CLF) framework of Rimon and Koditschek, we draw inspiration from an MPC/CLF framework put forth by Primbs to propose a version of the DWA that is tractable and convergent.

Place, publisher, year, edition, pages
2005. Vol. 21, no 2, 188-195 p.
Keyword [en]
Lyapunov function, mobile robots, model predictive control (MPC), navigation function (NF), obstacle avoidance, receding horizon control (RHC), robot control
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:kth:diva-57985DOI: 10.1109/TRO.2004.838008ISI: 000228337900005OAI: diva2:472842
QC 20120109Available from: 2012-01-04 Created: 2012-01-04 Last updated: 2012-01-09Bibliographically approved

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Ögren, PetterLeonard, Naomi Ehrich
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