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http://dx.doi.org/10.5302/J.ICROS.2007.13.7.624

Mobile Robot Navigation based on Global DWA with Optimal Waypoints  

Ham, Jong-Gyu (고려대학교 메카트로닉스 협동과정 대학원)
Park, Joong-Tae (고려대학교 메카트로닉스 협동과정 대학원)
Song, Jae-Bok (고려대학교 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.7, 2007 , pp. 624-630 More about this Journal
Abstract
The dynamic window approach(DWA) is a well known technique for reactive collision avoidance. It shows safe and efficient performance in real-world experiments. However, a robot can get stuck in local minima because no information about the connectivity of the free space is used to determine the motion. The global DWA can solve this problem of local minima by adding a navigation function. Even with the global DWA, it is still difficult for a robot to execute an abrupt change in its direction, for example, entering from the corridor to a doorway. This paper proposes a modified global DWA using the included angles of waypoints extracted from an optimal path. This scheme enables the robot to decelerate in advance before turning into the doorway. Therefore the robot can reach the goal position more safely and efficiently at high speeds.
Keywords
real-time obstacle avoidance; gradient method; global dynamic window approach; mobile robot;
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