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Adaptive dynamic windowing approach based on risk degree function
Transactions of the Institute of Measurement and Control, 2023Aiming at the problem that the dynamic window approach (DWA) has low planning efficiency and it is difficult to avoid fast-moving obstacles, an improved adaptive DWA based on risk degree function is proposed in this paper. The risk function is designed and introduced into the evaluation function of the traditional DWA to evaluate the risk of collision ...
Liu Yang +4 more
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Improved Dynamic Window Approach for Dynamic Obstacle Avoidance of Quadruped Robots
IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020This paper studies dynamic obstacle avoidance strategies of quadruped robots in an unknown and dynamically changing environment. Different from classical navigation problems with static environment, an unknown number of moving obstacles with unknown dynamics are present in the scenario considered in this paper.
Zhiming Chen +4 more
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Predictive Collision Avoidance for the Dynamic Window Approach
2019 International Conference on Robotics and Automation (ICRA), 2019Foresighted navigation is an essential skill for robots to rise from rigid factory floor installations to much more versatile mobile robots that partake in our everyday environment. The current state of the art that provides this mobility to some extent is the Dynamic Window Approach combined with a global start-to-target path planner. However, neither
Marcell Missura, Maren Bennewitz
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A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics, 2005The dynamic window approach (DWA) is a well-known navigation scheme developed by Fox et al. and extended by Brock and Khatib. 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 Ehrich Leonard
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Online Traffic Prediction in the Cloud: A Dynamic Window Approach
2014 International Conference on Future Internet of Things and Cloud, 2014Traffic prediction is a fundamental tool that captures the inherent behavior of a network and can be used for monitoring and managing network traffic. Online traffic prediction is usually performed based on large historical data used in training algorithms.
Bruno Lopes Dalmazo +2 more
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An approach to automatic layout of dynamic windows
Proceedings 1998 Australasian Computer Human Interaction Conference. OzCHI'98 (Cat. No.98EX234), 2002This paper presents a unique method, called SPORDAC (Shadow Propagation for Overlap Removal and Display Area Compaction), for overlap-free automatic layout of windows depending upon the user interaction. The SPORDAC algorithm is integrated with the simulated annealing algorithm for improving display area utilisation.
N. Trivedi, J. Millar, null Wei Lai
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A tractable convergent dynamic window approach to obstacle avoidance
IEEE/RSJ International Conference on Intelligent Robots and System, 2003The dynamic window approach is a well known navigation scheme developed by Fox et. al. (1997) and extended by 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 Ehrich Leonard
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Dynamic Window Approach for omni-directional robots with polygonal shape
2011 IEEE International Conference on Robotics and Automation, 2011This work presents an extension of the Dynamic Window Approach. The reactive collision avoidance algorithm is generalized to the case of omni-directional kinematics for any polygonal shaped, mobile robot. This paper includes a superior implementation to former realizations and has already been successfully tested with an omni-directional robot.
Andreas Lawitzky +3 more
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An Improved Dynamic Window Approach Integrated Global Path Planning
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed.
Fuhai Zhang +5 more
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High-speed navigation using the global dynamic window approach
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments.
Oliver Brock, Oussama Khatib
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