Chou, C.-C.C.-C.ChouFENG-LI LIAN2018-09-102018-09-102009http://www.scopus.com/inward/record.url?eid=2-s2.0-77950807369&partnerID=MN8TOARShttp://scholars.lib.ntu.edu.tw/handle/123456789/350042Based 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.Dynamical window approach; Local reactive method; Look-ahead verification; Velocity space approach[SDGs]SDG14Mobile robots; Navigation; Complex environments; Dynamic window approach; Dynamical window approach; Environmental information; Local reactive method; Local-minima-free; Robot navigation; Search Algorithms; Air navigationconference paper10.1109/CDC.2009.54008872-s2.0-77950807369