Dlobato dynamic window
- Project Name: Dynamic control window method for local navigation
- Authors: David Lobato Bravo (dav.lobato [at] gmail [point] com) and Jose María Cañas Plaza (jmplaza [at] gsyc [point] es)
- Academic Year: 2002-2003
- Degree: Undergrad
- Jde Version:
- SVN Repository: http://svn.jde.gsyc.es/users/dlobato/pfc-itig
- Tags: jde, local navigation, pioneer
- Technology: c
- State: Finished
- Source License:
- Document License:
- Abstract:
The main target on this project is to get a reactive behavior able to avoid collisions and drive itself to some near target (local navigation). The system has only ultrasonic information from the outside world. The working platform is a Pioneer2 robot controlled with a laptop running jde architecture.
The collision avoidance behavior is based on Dynamic Window algorithm (DWA; Fox etal., 1997) a variant from CVM (Simmons, 1996). The main idea is to find the best (v,w) pair for next iteration that avoids collision. The search space is bounded to physical limits in our robot (acceleration,max translation,...). The search algorithm is a maximization function using several variables. This is done in each iteration, so this way we have a highly reactive behavior.
This mage shows the gui interface, made using QT graphical framework:
This is short video with the robot running the algorithm:
- Documentation:
Master Thesis: PDF
