Indoor robot navigation based on DWA*: Velocity space approach with region analysis

摘要

Robot navigation methods can be divided into two classes: global path planning and local reactive methods. Global path planning methods find an optimal path to a specified goal, while local reactive methods compute proper control commands for the robot according to recent sensory information. In this paper, a new navigation method is presented, the new method integrates dynamic window approach (DWA) and best-first search (BFS), therefore, the robot can react to dynamic environments and the path optimality can be maintained.