Mobile Robot Control 2024 Ultron:Solution 2: Difference between revisions
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Exercise | =='''Exercise 2: Local Navigation'''== | ||
===Methodology=== | |||
===1. Artificial Potential Field=== | |||
====2. Dynamic Window Approach==== | |||
The '''Dynamic Window Approach (DWA)''' algorithm simulates motion trajectories in velocity space <math>(v, \omega)</math> for a certain period of time. It evaluates these trajectories using an evaluation function and selects the optimal trajectory corresponding to <math>(v, \omega)</math> to drive the robot's motion. | |||
===Testing Results=== | |||
Revision as of 19:58, 15 May 2024
Methodology
1. Artificial Potential Field
2. Dynamic Window Approach
The Dynamic Window Approach (DWA) algorithm simulates motion trajectories in velocity space [math]\displaystyle{ (v, \omega) }[/math] for a certain period of time. It evaluates these trajectories using an evaluation function and selects the optimal trajectory corresponding to [math]\displaystyle{ (v, \omega) }[/math] to drive the robot's motion.