Car-like robot navigation at high speed

摘要

This paper investigates the use of dynamic window approach (DWA) to solve the high speed autonomous navigation problem for mobile robots. In this paper, our main interest is to adapt the DWA to a car-like robot Robucar. This latter can moves with high speed. It is characterized also by its bounded steering angle imposed by its mechanical structure which thereby implies that the robot always moves on circular trajectories whose radius is upper than a certain extent. This approach considers the car-like robot shape, kinematics and dynamics in the determination of translational velocity and steering angle in one step. The approach has been tested in simulation for different environments and demonstrates its practicability.