DWA*: Velocity Space Approach with Look-Ahead Verification for Indoor Robot Navigation
Date Issued
2009
Date
2009
Author(s)
Chou, Chih-Chung
Abstract
Based on the dynamic window approach (DWA) for robot navigation, this thesis 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. In this thesis, extensive simulation and experimental studies using sonar-based or laser-based mobile robot are presented to illustrate the excellent performance of using the DWA* compared with that of using the original DWA.
Subjects
Dynamic window approach
local reactive method
velocity space approach
look-ahead verification
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-98-R95921129-1.pdf
Size
23.32 KB
Format
Adobe PDF
Checksum
(MD5):7be38a1aef9faca31e36cffc91db49df