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Faster Implementation of The Dynamic Window Approach Based on Non-Discrete Path Representation

Author

Listed:
  • Ziang Lin

    (Department of Computer Science, Nagoya Institute of Technology, Nagoya 466-8555, Japan)

  • Ryo Taguchi

    (Department of Computer Science, Nagoya Institute of Technology, Nagoya 466-8555, Japan)

Abstract

The dynamic window approach (DWA) serves as a pivotal collision avoidance strategy for mobile robots, meticulously guiding a robot to its target while ensuring a safe distance from any perceivable obstacles in the vicinity. While the DWA has seen various enhancements and applications, its foundational computational process has predominantly remained constant, consequently resulting in a heightened level of time complexity. Inspired by the velocity invariance assumption inherent in the DWA and the utilization of polar coordinate transformations in the model, we introduce a high-speed version of the DWA.

Suggested Citation

  • Ziang Lin & Ryo Taguchi, 2023. "Faster Implementation of The Dynamic Window Approach Based on Non-Discrete Path Representation," Mathematics, MDPI, vol. 11(21), pages 1-20, October.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:21:p:4424-:d:1267194
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