Dual-mode dynamic window approach to robot navigation with convergence guarantees  

作　　者：Greg Droge 

机构地区：[1]Department of Electrical and Computer Engineering,Utah State University,Logan,UT 84322,USA

出　　处：《Journal of Control and Decision》2021年第2期77-88,共12页控制与决策学报（英文）

摘　　要：In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive control framework.The planned path adds information on the connectivity of the free space to the obstacle avoidance capabilities of the dynamic window approach.This allows for guaranteed convergence to a goal location while navigating through an unknown environment at relatively high speeds.The framework is applied in a combined simulation/hardware implementation to demonstrate the computational feasibility and the ability to cope with the constraints of a dynamic system.

关 键 词：Dynamic window approach autonomous vehicle navigation non-holonomic motion planning wheeled robots 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]