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http://dx.doi.org/10.5370/KIEE.2011.60.2.389

Path Planning for Autonomous Mobile Robots by Modified Global DWA  

Yoon, Hee-Sang (충북대 제어로봇공학과)
Park, Tae-Hyoung (충북대 전자공학부 및 컴퓨터정보통신 연구소)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.60, no.2, 2011 , pp. 389-397 More about this Journal
Abstract
The global dynamic window approach (DWA) is widely used to generate the shortest path of mobile robots considering obstacles and kinematic constraints. However, the dynamic constraints of robots should be considered to generate the minimum-time path. We propose a modified global DWA considering the dynamic constraints of robots. The reference path is generated using A* algorithm and smoothed by cardinal spline function. The trajectory is then generated to follows the reference path in the minimum time considering the robot dynamics. Finally, the local path is generated using the dynamic window which includes additional terms of speed and orientation. Simulation and experimental results are presented to verify the performance of the proposed method.
Keywords
Autonomous mobile robots; Path planning; Dynamic window approach (DWA); Robot dynamics;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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