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Latin American applied research

versión impresa ISSN 0327-0793


BERTI, H.; SAPPA, A. D.  y  AGAMENNONI, O. E.. Improved dynamic window approach by using Lyapunov stability criteria. Lat. Am. appl. res. [online]. 2008, vol.38, n.4, pp. 289-298. ISSN 0327-0793.

This paper presents improvements over the Dynamic Window Approach (I-DWA), used for computing in real time autonomous robot navigation. A novel objective function that includes Lyapunov stability criteria is proposed. It allows to guarantee a global and asymptotic convergence to the goal avoiding collisions and resulting in a more simple and self-contained approach. Experimental results with simulated and real environments are presented to validate the capability of the proposed approach. Additionally, comparisons with the original DWA are given.

Palabras clave : Autonomous Mobile Robot; Lyapunov Stability.

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