The dynamic window approach is a well known navigation scheme developed in Fox et al. (1997) and extended in Brock and Khatib (1999). It is safe by construction and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorit...

The purpose of this study is to evaluate the efficiency of date growers in Saravan County using non-parametric methods. The measurement of date farmers’ efficiency and the comparison of their performance to with one another can play an important role in improving their efficiency and productivity. One of the common methods to measure efficiency is data envelopment analysis (DEA). Despite its ad...

Obstacle Avoidance for a Mobile Robot A notorious problem in mobile obstacle avoidance is the detection and avoidance of obstacles. This thesis evaluates several well-known methods for controlling the motion of a mobile robot in an unknown dynamic environment. One of these methods, the Global Dynamic Window Approach, is selected and, using a laser range finder as the only range sensor, the meth...

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effor...

Rapid advances in hand-held computing and communication capabilities, decreasing cost of mobile devices, and emergence of standards are fuelling the growth of mobile distributed work arrangement (DWA) in business operations. However, mobile DWA is more than a technological arrangement; it is an organizational innovation that could involve structural and administrative changes in the organizatio...

In this paper, we present an approach to obstacle avoidance for a group of unmanned vehicles moving in formation. The goal of the group is to move through a partially unknown environment with obstacles and reach a destination while maintaining the formation. We address this problem for a class of dynamic unicycle robots. Using Inputto-State Stability we combine a general class of formationkeepi...

This paper proposes a hybrid approach to the problem of collision avoidance for indoor mobile robots. The DWA (short for: model-based dynamic window approach) integrates sensor data from various sensors with information extracted from a map of the environment, to generate collision-free motion. A novel integration rule ensures that with high likelihood, the robot avoids collisions with obstacle...

The dynamic window approach is a well known navigation scheme developed by Fox et. al. [1] and extended by Brock and Khatib [2]. It is safe by construction and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorithm’s ...

window analysis is a known technique to evaluate performance during the time periods based on data envelopment analysis. in application of window analysis is assumed that efficient frontier have not changed during the periods in the study. unlike the window analysis, malmquist index tries to identify difference between efficient frontiers and separated them. but the means of different frontier ...