Obstacle avoidance for mobile robot based on improved dynamic window approach

doi:10.3906/elk-1504-194

CQUET-IR

	Obstacle avoidance for mobile robot based on improved dynamic window approach
	Li, Xiuyun 1,2; Liu, Fei 3; Liu, Juan 4; Liang, Shan 2
	2017
发表期刊	Turkish Journal of Electrical Engineering and Computer Sciences
ISSN	1300-0632
EISSN	1303-6203
卷号	25 期号:2 页码:666-676
摘要	The dynamic window approach has the draw back 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 in to 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.
关键词	Improved dynamic window approach obstacle avoidance mobile robot laser range finder
DOI	10.3906/elk-1504-194
收录类别	SCIE
语种	英语
WOS研究方向	Computer Science ; Engineering
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS记录号	WOS:000399461300002
出版者	TUBITAK SCIENTIFIC & TECHNICAL RESEARCH COUNCIL TURKEY
原始文献类型	Article
出版地	ANKARA
引用统计	被引频次：22[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.cqcet.edu.cn/handle/39TD4454/3667
专题	重庆电子科技职业大学
作者单位	1.Chongqing Vocat Inst Engn, Chongqing, Peoples R China; 2.Chongqing Univ, Coll Automat, Chongqing, Peoples R China; 3.Natl Ctr Robot Testing & Evaluat Chongqing, Chongqing, Peoples R China; 4.Chongqing Res Inst, China Coal Technol Engn Grp, Chongqing, Peoples R China
推荐引用方式 GB/T 7714	Li, Xiuyun,Liu, Fei,Liu, Juan,et al. Obstacle avoidance for mobile robot based on improved dynamic window approach[J]. Turkish Journal of Electrical Engineering and Computer Sciences,2017,25(2):666-676.
APA	Li, Xiuyun,Liu, Fei,Liu, Juan,&Liang, Shan.(2017).Obstacle avoidance for mobile robot based on improved dynamic window approach.Turkish Journal of Electrical Engineering and Computer Sciences,25(2),666-676.
MLA	Li, Xiuyun,et al."Obstacle avoidance for mobile robot based on improved dynamic window approach".Turkish Journal of Electrical Engineering and Computer Sciences 25.2(2017):666-676.