Affiliation:
1. 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.
Subject
General Mathematics,Engineering (miscellaneous),Computer Science (miscellaneous)
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