A tractable convergent dynamic window approach to obstacle avoidance

Petter Ögren, Naomi Ehrich Leonard

Research output: Contribution to conferencePaper

28 Scopus citations

Abstract

The dynamic window approach is a well known navigation scheme developed by Fox et. al. [1] and extended by Brock and Khatib [2]. 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. A first step towards such a treatment was presented in [4]. Here we continue that work with a computationally tractable algorithm resulting from a careful discretization of the optimal control problem of the previous paper and a way to construct a continuous Navigation Function. Inspired by the similarities between the Dynamic Window Approach and the Control Lyapunov Function and Receding Horizon Control synthesis put forth by Primbs et. al. [3] we propose a version of the Dynamic Window Approach that is tractable and provably convergent.

Original languageEnglish (US)
Pages595-600
Number of pages6
StatePublished - Jan 1 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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