Dynamic window approach

Dynamic Window Approach ( DWA for short, “ dynamic window method ”) is a strategy for collision avoidance in robots , which was published in 1997 by Dieter Fox , Wolfram Burgard and Sebastian Thrun . In contrast to general methods, the strategy takes into account the dynamics of the robot, in particular limited speed and acceleration. It assumes all possible regulations and triesto findthe optimal regulation in this set. The aim is motion planning for robots with reaction to dynamic environments and unforeseen events at runtime .

With DWA, the movement of the robot is only planned in advance for small time intervals. The kinematics and dynamics of the robot are taken into account, in particular its limits in terms of speed and acceleration. For this purpose, the search space for possible controls of the robot is limited to those that allow the robot to be stopped safely at any time, depending on these limitations. In addition, the search space is limited to speeds that can be reached in a planned time interval. Speeds that correspond to these restrictions form the eponymous dynamic window , the dynamic window.

A quality functional is maximized via the possible translational and rotational speeds of the dynamic window. The quality functional in the original publication contains weighted proportions

Approaching the target point
Forward speed
Distance of the trajectory to the next obstacle

The regulation determined in this way ensures a quick approach to the target point while avoiding collisions with obstacles. The publication presents results on different robot platforms in different environments that enable robust obstacle avoidance at speeds of up to . ${\ displaystyle 1 {\ tfrac {m} {s}}}$

literature

Dieter Fox, Wolfram Burgard, Sebastian Thrun: The dynamic window approach to collision avoidance . In: IEEE Robotics & Automation Magazine . 1997, p. 23-33 ( ieee.org [accessed February 3, 2009]).

Web links

Petter Ögren, Naomi Ehrich Leonard: A Convergent Dynamic Window Approach to Obstacle Avoidance . In: IEEE Transactions on Robotics and Automation . 2005, p. 188–195 ( princeton.edu [PDF; accessed February 3, 2009]).
Oliver Brock: High-Speed Navigation Using the Global Dynamic Window Approach . In: IEEE Int. Conf. on Robotics and Automation . 1999 ( psu.edu [PDF; accessed February 3, 2009]).
Stanford University video: Global Dynamic Window Approach ( AVI ; 30.5 MB)

Individual evidence

^ ^A ^b Dieter Fox, Wolfram Burgard, Sebastian Thrun: The dynamic window approach to collision avoidance . In: IEEE Robotics & Automation Magazine . 1997, p. 23-33 ( ieee.org [accessed February 3, 2009]).

[fox97-1] A ^b Dieter Fox, Wolfram Burgard, Sebastian Thrun: The dynamic window approach to collision avoidance . In: IEEE Robotics & Automation Magazine . 1997, p. 23-33 ( ieee.org [accessed February 3, 2009]).