Indoor robot navigation based on DWA*: Velocity space approach with region analysis

Author

Lin, Yi-Chun ; Chou, Chih-Chung ; Lian, Feng-Li

Author_Institution

Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

700

Lastpage

705

Abstract

Robot navigation methods can be divided into two classes: global path planning and local reactive methods. Global path planning methods find an optimal path to a specified goal, while local reactive methods compute proper control commands for the robot according to recent sensory information. In this paper, a new navigation method is presented, the new method integrates dynamic window approach (DWA) and best-first search (BFS), therefore, the robot can react to dynamic environments and the path optimality can be maintained.

Keywords

mobile robots; path planning; robot dynamics; sensors; tree searching; BFS; DWA; best-first search; dynamic environment; dynamic window approach; global path planning; indoor robot navigation; local reactive method; optimal path; region analysis; sensory information; tree search algorithm; velocity space approach; Cost function; Joining processes; Mobile robots; Motion planning; Navigation; Optimal control; Orbital robotics; Path planning; Robot sensing systems; Search methods; DWA; Robot navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5332944