Velocity Space Approach with Region Analysis and Look-Ahead Verification for Robot Navigation

被引：2

作者：

Chou, Chih-Chung ^{[1
]}

Lian, Feng-Li ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 10617, Taiwan

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

Dynamical window approach; local reactive method; velocity space approach; look-ahead verification; AVOIDANCE;

D O I：

10.1109/CDC.2009.5400887

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Based on the dynamic window approach (DWA) for robot navigation, this paper presents a local reactive method, called DWA*, for mobile robots to achieve high-speed, smooth, and local-minima-free navigation. The original DWA utilizes only a small part of environmental information to search for a proper motion command in the robot's motion space. Hence, the robot can be easily driven into local-minima area and trapped in complex environment. In order to escape from the local-minima area, DWA* applies region analysis technique to filter improper commands, and uses the A* search algorithm with the look-ahead verification to determine the optimal command which can lead the robot to the best consequence after a designated number of steps.

引用

页码：5971 / 5976

页数：6

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