A Dynamic Window Approach to Collision Avoidance Considering Robot Size Constraint
Xiaodong Xian · Control Engineering of China · 2011
To the problem that most reactive obstacle avoidance algorithms without considering the robot size constraints,could not nake the robot pass through the feasible passage between obstacles,a dynamic window approach with considering the robot size constraint in troublesome scenarios is presented.The main idea is to explore the free space of motion ahead by laser radar for avoiding to get stuck in U type local minima area.An objective function is constructed to improve the decision-making ability of passing through the feasible channel with finite width in the path,by evaluating the width of the feasible passage between obstacles and the robot size.The simulation results show that the proposed method can avoid the local minima,optimize the global path and improve the robot's ability of passing through feasible narrow passage while avoiding collisions,which indicate the effectiveness of the method.