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A Probably Convergent Dynamic Window Approach to Obstaclen Avoidance
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2002 (English)Conference paper (Refereed)
Abstract [en]

The dynamic window approach is a well known navigation scheme developed in Fox et al. (1997) and extended in Brock and Khatib (1999). It is safe by construction and has been shown to perform very e#ciently 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.

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Computer and Information Science
URN: urn:nbn:se:kth:diva-90561OAI: diva2:505876
IFAC World Conference
NR 20140805Available from: 2012-02-26 Created: 2012-02-26Bibliographically approved

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Ögren, Petter
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