Improved Dynamic Window Approach by Using Lyapunov Stability Criteria
نویسندگان
چکیده
This paper presents improvements over the Dynamic Window Approach (I-DWA), used for computing in real time autonomous robot navigation. A novel objective function that includes Lyapunov stability criteria is proposed. It allows to guarantee a global and asymptotic convergence to the goal avoiding collisions and resulting in a more simple and self-contained approach. Experimental results with simulated and real environments are presented to validate the capability of the proposed approach. Additionally, comparisons with the original DWA are given. Keywords— Autonomous Mobile Robot, Lyapunov Stability.
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