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

Ziang Lin () and Ryo Taguchi
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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

Mathematics, 2023, vol. 11, issue 21, 1-20

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.

Keywords: DWA; wheeled robot; autonomous control; local path planning; path representation; computational efficiency (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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