https://scholars.lib.ntu.edu.tw/handle/123456789/350042
標題: | Velocity space approach with region analysis and look-ahead verification for robot navigation | 作者: | Chou, C.-C. FENG-LI LIAN |
關鍵字: | Dynamical window approach; Local reactive method; Look-ahead verification; Velocity space approach | 公開日期: | 2009 | 起(迄)頁: | 5971-5976 | 來源出版物: | IEEE Conference on Decision and Control | 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. ©2009 IEEE. |
URI: | http://www.scopus.com/inward/record.url?eid=2-s2.0-77950807369&partnerID=MN8TOARS http://scholars.lib.ntu.edu.tw/handle/123456789/350042 |
DOI: | 10.1109/CDC.2009.5400887 | SDG/關鍵字: | Mobile robots; Navigation; Complex environments; Dynamic window approach; Dynamical window approach; Environmental information; Local reactive method; Local-minima-free; Robot navigation; Search Algorithms; Air navigation |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。