DMCA
A Provably Convergent Dynamic Window Approach to Obstacle Avoidance (2001)
by
Petter Ögren
,
Naomi E. Leonard
| Venue: | IFAC World Congress |
| Citations: | 34 - 4 self |
BibTeX
@INPROCEEDINGS{Ögren01aprovably,
author = {Petter Ögren and Naomi E. Leonard},
title = {A Provably Convergent Dynamic Window Approach to Obstacle Avoidance},
booktitle = {IFAC World Congress},
year = {2001},
pages = {595--600}
}
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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 e#ciently 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.
