%0 Journal Article
%T Improved dynamic window approach by using Lyapunov stability criteria
%A H. Berti
%A A. D. Sappa
%A O. E. Agamennoni
%J Latin American applied research
%D 2008
%I Scientific Electronic Library Online
%X 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.
%K Autonomous Mobile Robot
%K Lyapunov Stability
%U http://www.scielo.org.ar/scielo.php?script=sci_arttext&pid=S0327-07932008000400001