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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