Design convergent Dynamic Window Approach for quadrotor navigation

Felipe Patino Vista; Ansu Man Singh; Deok Jin Lee; Kil To Chong

doi:10.1007/s12541-014-0579-3

Design convergent Dynamic Window Approach for quadrotor navigation

Felipe Patino Vista
, Ansu Man Singh
, Deok Jin Lee
, Kil To Chong^*

^*Corresponding author for this work

Mechanical Design Engineering

Jeonbuk National University
Kunsan National University

Research output: Contribution to journal › Journal article › peer-review

20 Scopus citations

Abstract

This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of the objective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in non-holonomic vehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomic vehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations where conventional method failed.

Original language	English
Pages (from-to)	2177-2184
Number of pages	8
Journal	International Journal of Precision Engineering and Manufacturing
Volume	15
Issue number	10
DOIs	https://doi.org/10.1007/s12541-014-0579-3
State	Published - 2014.10.15

Keywords

Dynamic window approach
Holonomic vehicles
Objective function

Quacquarelli Symonds(QS) Subject Topics

Engineering - Mechanical
Engineering - Electrical & Electronic
Engineering - Petroleum

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10.1007/s12541-014-0579-3

Cite this

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title = "Design convergent Dynamic Window Approach for quadrotor navigation",

abstract = "This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of the objective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in non-holonomic vehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomic vehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations where conventional method failed.",

keywords = "Dynamic window approach, Holonomic vehicles, Objective function",

author = "Vista, \{Felipe Patino\} and Singh, \{Ansu Man\} and Lee, \{Deok Jin\} and Chong, \{Kil To\}",

note = "Publisher Copyright: {\textcopyright} 2014, Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg.",

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doi = "10.1007/s12541-014-0579-3",

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T1 - Design convergent Dynamic Window Approach for quadrotor navigation

AU - Vista, Felipe Patino

AU - Singh, Ansu Man

AU - Lee, Deok Jin

AU - Chong, Kil To

PY - 2014/10/15

Y1 - 2014/10/15

N2 - This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of the objective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in non-holonomic vehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomic vehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations where conventional method failed.

AB - This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of the objective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in non-holonomic vehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomic vehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations where conventional method failed.

KW - Dynamic window approach

KW - Holonomic vehicles

KW - Objective function

UR - https://www.scopus.com/pages/publications/84919907624

U2 - 10.1007/s12541-014-0579-3

DO - 10.1007/s12541-014-0579-3

M3 - Journal article

AN - SCOPUS:84919907624

SN - 1229-8557

VL - 15

SP - 2177

EP - 2184

JO - International Journal of Precision Engineering and Manufacturing

JF - International Journal of Precision Engineering and Manufacturing

IS - 10

ER -

Design convergent Dynamic Window Approach for quadrotor navigation

Abstract

Keywords

Quacquarelli Symonds(QS) Subject Topics

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