A Probably Convergent Dynamic Window Approach to Obstaclen Avoidance
2002 (English)Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-90561OAI: oai:DiVA.org:kth-90561DiVA: diva2:505876
IFAC World Conference
NR 201408052012-02-262012-02-26Bibliographically approved