Obstacle avoidance for mobile robot based on improved dynamic window   approach

XIUYUN LI; FEI LIU; JUAN LIU; SHAN LIANG

Article Details

Obstacle avoidance for mobile robot based on improved dynamic window approach

Authors:

XIUYUN LI | FEI LIU | JUAN LIU | SHAN LIANG

Publisher:

TUBITAK

Journal:

Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 2, pp.666-676

Document Type:

Article

Publication Date:

3/2017

Document Language:

Turkish

Document ID (Org No.):

2000740958

Frequency:

Bimonthly

eISSN:

1303-6203

pISSN:

1300-0632

Abstract:

 

The dynamic window approach has the drawback that it may   result in local minima and nonoptimal motion decision for obstacle avoidance   because of not considering the size constraint of a mobile robot. Thus, an   improved dynamic window approach is proposed, which takes into account the   relation between the size of the mobile robot and the free space between   obstacles. A laser range finder is employed to improve the ability of   sensing and prediction of the environment, in order to avoid being trapped   in a U-shaped obstacle, such as a box canyon. By applying the proposed   method, the local minima problem can be solved and the optimal path can be   obtained. The effectiveness and superiority is proven by theoretic analysis   and simulations.

Article Details

Obstacle avoidance for mobile robot based on improved dynamic window approach

Authors: XIUYUN LI | FEI LIU | JUAN LIU | SHAN LIANG

Publisher: TUBITAK

Journal: Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 2, pp.666-676

Document Type: Article

Publication Date: 3/2017

Document Language: Turkish

Document ID (Org No.): 2000740958

Frequency: Bimonthly

eISSN: 1303-6203

pISSN: 1300-0632

Issues

Authors:

XIUYUN LI | FEI LIU | JUAN LIU | SHAN LIANG

Publisher:

TUBITAK

Journal:

Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 2, pp.666-676

Document Type:

Article

Publication Date:

3/2017

Document Language:

Turkish

Document ID (Org No.):

2000740958

Frequency:

Bimonthly

eISSN:

1303-6203

pISSN:

1300-0632