DWA(动态窗口)算法是用于局部路径规划的算法,已经在ROS中实现,在move_base堆栈中:http://wiki.ros.org/dwa_local_planner DWA算法第一次提出应该是1997年,发在了《IEEE Robotics and Automation Magazines》上 路径规划算法主要包括全局路径规划和局部路径规划。局部路径规划主要用
论文简介 为在能量有限或补给不足的情况下,降低移动机器人的能耗,提高在动态环境下给定任务的完成率,本文提出一种改进A*算法与动态窗口法相融合的路径规划方法。首先,考虑地面坡度、摩擦等因素,构建机器人能耗模型,提出基于能耗成本的路径...
Based on the acquired information on the dynamic obstacles, the DWA algorithm is used to acquire the local route planning. By integrated the global and local route planning strategies, the final feasible route is obtained. Simulation results show this strategy can eff...
/** // State 机器人当前状态:位姿,v,w // v 采样的速度 // w 采样的角速度 // dt 时间周期 */ void DWAPlanner::updateState(State &state, const float &v, const float &w, const float &dt) { float unit_dt = 0.005; // 最小时间周期,越小拟合越准确 int dt_size = dt / unit_dt;...
By taking intelligent sorting robots as an example, a local motion trajectory planning algorithm based on the graph optimization dynamic window approach (DWA) is innovatively analyzed. This algorithm first adopts the dynamic window method to obtain multiple trajecto...