Bi-steerable robot navigation using a modified Dynamic Window Approach

摘要

This paper investigates the use of a modified dynamic window approach (DWA) to solve the collision avoidance problem for a bi-steerable mobile robot. In this paper, our main interest is to adapt the DWA to a bi-steerable robot Robucar. This latter can move with high speed. It is characterized 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 proposed approach considers the robot shape, kinematics and dynamics in the determination of translational velocity and steering angle in one step. The approach has been implemented on a real robot robucar and tested in experimentation for different environments and demonstrates its practicability.