A tractable convergent dynamic window approach to obstacle avoidance

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2002, Pages 595-600

  Ögren, Petter ^a   Leonard, Naomi E ^b  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

^b Princeton University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; COMPUTER SIMULATION; LYAPUNOV METHODS; MOTION PLANNING; NAVIGATION; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; VECTORS;

CONTROL LYAPUNOV FUNCTION; RECEDING HORIZON CONTROL SYNTHESIS; TRACTABLE CONVERGENT DYNAMIC WINDOW APPROACH;

MOBILE ROBOTS;

EID: 0036451010     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. D. Fox, W. Burgard and S. Thrun. The Dynamic Window Approach to Collision Avoidance, IEEE Robotics and Automation Magazine, March 1997.
2. O. Brock and O. Khatib. High-Speed Navigation Using the Global Dynamic Window Approach, IEEE International Conference on Robotics and Automation, Detroit, Michigan, May 1999.
3. J. A. Primbs, V. Nevistic and John C. Doyle. Nonlinear Optimal Control: A Control Lyapunov Function and Receding Horizon Perspective. Asian Journal of Control. Vol. 1, No. 1, pp. 14-24, March 1999.
4. P. Ögren and N. Leonard. A Provably Convergent Dynamic Window Approach to Obstacle Avoidance, IFAC World Congress, Barcelona, Spain, July 2002.
5. J. Lawton, B.Young and R. Beard. A Decentralized Approach To Elementary Formation Maneuvers. To appear in IEEE Transactions on Robotics and Automation.
6. E. Rimon and D. Koditschek. Exact Robot Navigation Using Artificial Potential Functions. IEEE Transactions on Robotics and Automation, pp. 501-518, Vol. 8, No. 5, October 1992.
7. Latombe J. Robot Motion Planning. Kluwer Academic Publishers, Boston, MA, 1991. ISBN 0-7923-9206-X
8. Dijkstra, E.W., A Note on Two Problems in Connexion with Graphs. Numerische Mathematik, 1 (1959), 269-71.