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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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Approximate inference for dynamic Bayesian networks: sliding window approach
Applied Intelligence, 2013Dynamic Bayesian networks (DBNs) are probabilistic graphical models that have become a ubiquitous tool for compactly describing statistical relationships among a group of stochastic processes. A suite of elaborately designed inference algorithms makes it possible for intelligent systems to use a DBN to make inferences in uncertain conditions ...
Xiaoguang Gao 0001 +3 more
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A hybrid approach for the dynamic vehicle routing problem with time windows
Fifth International Conference on Hybrid Intelligent Systems (HIS'05), 2005The vehicle routing problem with time windows (VRPTW) is a well-known and complex combinatorial problem. The static version of this problem has received special attention. However, most real world vehicle routing problems are dynamic, where information relevant to the routing can change after the initial routes have been constructed.
Guilherme Bastos Alvarenga +2 more
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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
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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
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Collision-Free Dynamic Window Approach for Moving Obstacles
Volume 3A: 48th Design Automation Conference (DAC), 2022Abstract Dynamic window approach (DWA) is known as collision-free for static obstacles with proper design. Under static operation conditions, if there is no admissible velocity within the velocity dynamic window, the agent reduces the velocity as much as possible.
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A PROVABLY CONVERGENT DYNAMIC WINDOW APPROACH TO OBSTACLE AVOIDANCE
IFAC Proceedings Volumes, 2002Abstract 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
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Design convergent Dynamic Window Approach for quadrotor navigation
International Journal of Precision Engineering and Manufacturing, 2014This 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 +3 more
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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, 2002This 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 +2 more
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A time-window based approach for dynamic assertions mining on control signals
2015 IFIP/IEEE International Conference on Very Large Scale Integration (VLSI-SoC), 2015Different mining approaches have been proposed in the past for automatic generation of assertions. However, in most cases, existing tools generate a set of over-constrained assertions. As a consequence, each assertion in the set is a long formula that describes a very specific behaviour of the design under verification (DUV).
DANESE, ALESSANDRO +2 more
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