SciELO - Scientific Electronic Library Online

 
vol.38 número4Simulation of deacidification process by molecular distillation of deodorizer distillate índice de autoresíndice de materiabúsqueda de artículos
Home Pagelista alfabética de revistas  

Servicios Personalizados

Articulo

Indicadores

  • No hay articulos citadosCitado por SciELO

Links relacionados

  • En proceso de indezaciónCitado por Google
  • No hay articulos similaresSimilares en SciELO
  • En proceso de indezaciónSimilares en Google

Bookmark


Latin American applied research

versión impresa ISSN 0327-0793

Resumen

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 llave : Autonomous Mobile Robot; Lyapunov Stability.

        · texto en Inglés     · pdf en Inglés