A provably convergent dynamic window approach to obstacle avoidance

Petter Ögren, Naomi E. Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

The dynamic window approach is a well known navigation scheme developed in Fox et al. (1997) and extended in Brock and Khatib (1999). It is safe by construction and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorithm's convergence properties. Here we present such a treatment. Furthermore, we highlight the similarity between the Dynamic Window Approach and the Control Lyapunov Function and Receding Horizon Control synthesis put forth by Primbs et al. (1999). Inspired by these similarities we propose a version of the Dynamic Window Approach that is provably convergent.

Original languageEnglish (US)
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
EditorsGabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
PublisherIFAC Secretariat
Pages115-120
Number of pages6
Edition1
ISBN (Print)9783902661746
DOIs
StatePublished - 2002
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: Jul 21 2002Jul 26 2002

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1
Volume15
ISSN (Print)1474-6670

Other

Other15th World Congress of the International Federation of Automatic Control, 2002
CountrySpain
CityBarcelona
Period7/21/027/26/02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Keywords

  • Lyapunov function
  • Mobile robots
  • Obstacle avoidance
  • Predictive control

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  • Cite this

    Ögren, P., & Leonard, N. E. (2002). A provably convergent dynamic window approach to obstacle avoidance. In G. Ferrate, E. F. Camacho, L. Basanez, & J. A. de la Puente (Eds.), IFAC Proceedings Volumes (IFAC-PapersOnline) (1 ed., pp. 115-120). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. 1). IFAC Secretariat. https://doi.org/10.3182/20020721-6-es-1901.00831