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 2016-10-14T16:32:59Z 2016-10-14T16:32:59Z
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 Berti, H. es Sappa, A. es 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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