Follow the gap with dynamic window approach

Aykut Özdemir, Volkan Sezer

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)

Abstract

Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs the robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics are possible. On the other hand, FGM calculates the desired heading angle, but it does not give linear and angular velocity reference. Dynamic Window Approach (DWA) is one of the most popular obstacle avoidance algorithms which does take robot dynamics into consideration. It calculates best angular and linear velocity pair which is chosen by an objective function. In this paper, an FGM-DW approach which uses the strongest elements of FGM and DWA methods to achieve safe, smooth and fast navigation is proposed. The FGM-DW approach provides these concerns and meets the low level angular and rotational velocity requirement of FGM. In this paper, the performance and analysis of FGM-DW are shown by both simulations and real-world experimental tests.

Original languageEnglish
Pages (from-to)43-57
Number of pages15
JournalInternational Journal of Semantic Computing
Volume12
Issue number1
DOIs
Publication statusPublished - 1 Mar 2018

Bibliographical note

Publisher Copyright:
© 2018 World Scientific Publishing Company.

Keywords

  • dynamic window approach
  • Follow the gap method
  • obstacle avoidance
  • robot operating system

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