A convergent dynamic window approach to obstacle avoidance

IEEE Transactions on Robotics

Volumn 21, Issue 2, 2005, Pages 188-195

  Ögren, Petter ^a   Leonard, Naomi Ehrich ^b  

^a Swedish Defense Research Agency   (Sweden)

^b Princeton University   (United States)

Author keywords

Lyapunov function; Mobile robots; Model predictive control (MPC); Navigation function (NF); Obstacle avoidance; Receding horizon control (RHC); Robot control

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; CONVERGENCE OF NUMERICAL METHODS; LYAPUNOV METHODS; MATHEMATICAL MODELS; MOTION CONTROL; MOTION PLANNING; NAVIGATION; POSITION CONTROL; PREDICTIVE CONTROL SYSTEMS; TRACKING (POSITION);

CONVERGENT DYNAMIC WINDOW APPROACH; DYNAMIC WINDOW APPROACH (DWA); LYAPUNOV FUNCTION; MODEL PREDICTIVE CONTROL (MPC); NAVIGATION FUNCTION (NF); RECEDING HORIZON CONTROL (RHC); ROBOT CONTROL;

MOBILE ROBOTS;

EID: 18144396887     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.838008     Document Type: Article

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