By Topic

Characterizing Indoor Environment for Robot Navigation Using Velocity Space Approach With Region Analysis and Look-Ahead Verification

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Chih-Chung Chou ; Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan ; Feng-Li Lian ; Chieh-Chih Wang

Based on the dynamic window approach (DWA) for robot navigation, this paper presents a local reactive method, called DWA*, for mobile robots to characterize unknown indoor environments for achieving high-speed, smooth, and local-minima-free navigation. The original DWA utilizes only a small part of environmental information to search for a proper motion command in the robot's motion space. Hence, the robot can be easily driven into a local-minima area and trapped in complex environments. In order to escape from the local-minima area, the proposed DWA* applies a region analysis technique to filter improper commands, and uses the A* search algorithm with the look-ahead verification to determine the optimal command that can lead the robot to the best consequence after a designated number of steps. Finally, related simulation and experimental results using laser- and sonar-based mobile robots are presented to illustrate the excellent performance of using DWA* compared with that of using the original DWA.

Published in:

IEEE Transactions on Instrumentation and Measurement  (Volume:60 ,  Issue: 2 )