Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Mobile Robot Navigation based on Global DWA with Optimal Waypoints

최적 경유점을 갖는 전역 DWA에 기반한 이동로봇의 주행

  • 함종규 (고려대학교 메카트로닉스 협동과정 대학원) ;
  • 박중태 (고려대학교 메카트로닉스 협동과정 대학원) ;
  • 송재복 (고려대학교 기계공학과)
  • Published : 2007.07.01
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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.

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References

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