Improved dynamic window approach by using Lyapunov stability criteria
| cic.isFulltext | true | es |
| cic.isPeerReviewed | true | es |
| cic.lugarDesarrollo | Universidad Nacional del Sur | es |
| cic.version | info:eu-repo/semantics/publishedVersion | es |
| dc.date.accessioned | 2016-10-14T16:32:59Z | |
| dc.date.available | 2016-10-14T16:32:59Z | |
| dc.identifier.uri | https://digital.cic.gba.gob.ar/handle/11746/4431 | |
| dc.title | Improved dynamic window approach by using Lyapunov stability criteria | en |
| dc.type | Artículo | es |
| dcterms.abstract | 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. | en |
| dcterms.creator.author | Berti, H. | es |
| dcterms.creator.author | Sappa, A. | es |
| dcterms.creator.author | Agamennoni, Osvaldo Enrique | es |
| dcterms.extent | p. 289-298 | es |
| dcterms.identifier.other | ISSN 1851-8796 | es |
| dcterms.identifier.url | Documento completo | es |
| dcterms.isPartOf.issue | vol. 38, nº 4 | es |
| dcterms.isPartOf.series | Latin American Applied Research | es |
| dcterms.issued | 2008 | |
| dcterms.language | Inglés | es |
| dcterms.license | Attribution-NonCommercial 4.0 International (BY-NC 4.0) | es |
| dcterms.subject | autonomous mobile robot | en |
| dcterms.subject.materia | Ciencias de la Computación | es |
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