Results 251 to 260 of about 1,272,123 (296)

Two-layer path planning framework for WMRs in dynamic environments: Optimized ant colony algorithm and dynamic window approach

Transactions of the Institute of Measurement and Control
This paper proposes a two-layer path planning method for wheeled mobile robots (WMRs), where an improved ant colony optimization (ACO) and optimized dynamic window approach (DWA) algorithms are used, at the global and local layer, respectively.
Hongshuo Liu, Ming Yue, Minghao Liu, Longfei Su, Xudong Zhao   +4 more
semanticscholar   +1 more source

Targeted Sampling Dynamic Window Approach: A Path-Aware Dynamic Window Approach Sampling Strategy for Omni-Directional Robots

Journal of Mechanisms and Robotics
Abstract This paper describes a sampling strategy for the dynamic window approach (DWA), a local path planner, for omni-directional robot motion planning. An efficient local planner allows the robot to quickly respond to dynamic obstacles and ensures that commanded velocities meet the dynamic constraints of the robot.
Chen Shen, Gim Song Soh
openaire   +1 more source

Improved Dynamic Window Approach Using Sugeno Fuzzy Logic for Mobile Robot Collision Avoidance

CENiM
This research presents an improved Dynamic Window Approach (DWA) using Sugeno Fuzzy Logic for enhanced mobile robot collision avoidance in dynamic environments.
F. Rachman, T. Agustinah, Y. E. Nugraha
semanticscholar   +1 more source

Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments

IEEE/RJS International Conference on Intelligent RObots and Systems
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gradient Field-based Dynamic Window Approach (GF-DWA).
Ze Zhang, Yifan Xue, Nadia Figueroa, Knut Åkesson   +3 more
semanticscholar   +1 more source

A PROVABLY CONVERGENT DYNAMIC WINDOW APPROACH TO OBSTACLE AVOIDANCE

IFAC Proceedings Volumes, 2002
Abstract The dynamic window approach is a well known navigation scheme developed in Fox et al. (1997) and extended in Brock and Khatib (1999). It is safe by construction and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration.
Petter Ögren, Naomi E. Leonard
openaire   +1 more source

Design convergent Dynamic Window Approach for quadrotor navigation

International Journal of Precision Engineering and Manufacturing, 2014
This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of the objective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in non-holonomic vehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-
Felipe Patino Vista, Ansu Man Singh, Deok-Jin Lee, Kil To Chong   +3 more
openaire   +1 more source

A Convergent Dynamic Window Approach with Minimal Computational Requirements

2008
Many applications in mobile robotics require the safe execution of a real-time motion to a goal location through completely unknown environments. In this context, the dynamic window approach (DWA) is a well-known solution which is safe by construction —assuming reliable sensory information— and has shown to perform very efficiently ...
Antich Javier, Ortiz Alberto
openaire   +1 more source

Controlling synchro-drive robots with the dynamic window approach to collision avoidance

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96, 2002
This paper proposes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchro-drives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly well-suited for robots operating at high speed.
Dieter Fox, Wolfram Burgard, Sebastian Thrun   +2 more
openaire   +1 more source

An improved fuzzy‐controlled local path planning algorithm based on dynamic window approach

J. Field Robotics
With the increasingly complex operating environment of mobile robots, the intelligent requirements of robots are getting higher and higher. Navigation technology is the core of mobile robot intelligent technology research, and path planning is an ...
Aizun Liu, Chong Liu, Lei Li, Ruchao Wang, Zhiguo Lu   +4 more
semanticscholar   +1 more source

A Dynamic Window Approach with Collision Suppression Cone for Avoidance of Moving Obstacles

2018 IEEE 16th International Conference on Industrial Informatics (INDIN), 2018
In this paper, we present a new approach, named as dynamic window approach with collision suppression cone (DWA-CSC), to handle the issue of a robot avoiding moving obstacles in a partially known dynamic environment. The concept of collision suppression cone is firstly introduced to define a probable collision area.
Mingyang Guan, Changyun Wen, Zhe Wei, Cheng-Leong Ng, Ying Zou 0002   +4 more
openaire   +1 more source