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http://dx.doi.org/10.14372/IEMEK.2017.12.5.295

Improved Dynamic Window Approach With Path-Following for Unmanned Surface Vehicle  

Kim, Hyogon (Korea Institute of Robot and Convergence)
Yun, Sung-Jo (Korea Institute of Robot and Convergence)
Choi, Young-Ho (Korea Institute of Robot and Convergence)
Lee, Jung-Woo (Korea Institute of Robot and Convergence)
Ryu, Jae-KWan (LIG Nex)
Won, Byong-Jae (LIG Nex)
Suh, Jin-Ho (Korea Institute of Robot and Convergence)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.12, no.5, 2017 , pp. 295-301 More about this Journal
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.
Keywords
Dynamic window approach; Path-following; Unmanned surface vehicle; Local path planning;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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