A Hybrid Obstacle Avoidance Method: Follow the Gap with Dynamic Window Approach

摘要

Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics is possible. On the other hand, FGM calculates a desired heading angle but it does not give linear and angular velocity reference. Dynamic Window Approach (DWA) is one of the most popular obstacle avoidance algorithm which does take robot dynamics into consideration. It calculates best angular and linear velocity pair which is chosen by an objective function. In this paper, a FGM-DW approach which uses the strongest elements of FGM and DWA methods to achieve safe, smooth and fast navigation is proposed. The FGM-DW approach provides these concerns and meets the low level angular and rotational velocity requirement of FGM.