| dc.creator | Berti, H. | |
| dc.creator | Sappa, A. | |
| dc.creator | Agamennoni, Osvaldo Enrique | |
| dc.date | 2008 | |
| dc.date.accessioned | 2019-05-28T11:09:37Z | |
| dc.date.available | 2019-05-28T11:09:37Z | |
| dc.identifier | http://digital.cic.gba.gob.ar/handle/11746/4431 | |
| dc.identifier | Documento completo | |
| dc.identifier.uri | http://repositorioslatinoamericanos.uchile.cl/handle/2250/2859349 | |
| dc.description | 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. | |
| dc.format | application/pdf | |
| dc.format | p. 289-298 | |
| dc.language | Inglés | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.rights | Attribution-NonCommercial 4.0 International (BY-NC 4.0) | |
| dc.subject | Ciencias de la Computación | |
| dc.title | Improved dynamic window approach by using Lyapunov stability criteria | |
