IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Improved Dynamic Window Approach With Path-Following for Unmanned Surface Vehicle

무인수상정을 위한 경로선 추종이 가능한 개선된 Dynamic Window Approach

  • Received : 2017.08.11
  • Accepted : 2017.09.04
  • Published : 2017.10.31
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Abstract

Recently, autonomous navigation technology, obstacle recognition, and obstacle collision avoidance technology are actively being developed for an unmanned surface vehicle (USV). The path to move from the current location to the destination should be planned, in order for an USV to autonomously operate safely to its destination. The dynamic window approach (DWA) is a well-known navigation scheme as a local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the destination direction, velocity, and distance from the obstacle. However, because DWA algorithm does not consider tracking the path, when using only the DWA algorithm, the ship may navigate away from the path line after avoiding obstacles. In this paper, we propose an improved DWA algorithm that can follow path line. And we implemented the simulation and compared the existing DWA algorithm with the improved DWA algorithm proposed in this paper. As a result, it is confirmed that the proposed DWA algorithm follows the path line better.

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References

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