IIIE 20352
INSTITUTO DE INVESTIGACIONES EN INGENIERIA ELECTRICA "ALFREDO DESAGES"
Unidad Ejecutora - UE
artículos
Título:
Improved dynamic window approach by using Lyapunov stability criteria
Autor/es:
BERTI HUGO, SAPPA ANGEL, AND AGAMENNONI OSVALDO
Revista:
LATIN AMERICAN APPLIED RESEARCH
Editorial:
Universidad Nacional del Sur
Referencias:
Lugar: Bahia Blanca; Año: 2008 vol. 38 p. 289 - 298
ISSN:
0327-0793
Resumen:
This paper presents improvements over the Dynamic Window Approach (I-DWA), used for computing in real time autonomous robot navigation. A novel objective function that includes Lyapunov stability criteria is proposed. It allows to guarantee a global and asymptotic convergence to the goal avoiding collisions and resulting in a more simple and self-contained approach. Experimental results with simulated and real environments are presented to validate the capability of the proposed approach. Additionally, comparisons with the original DWA are given.
