Auto-Robotic-Motion-Planning
An algorithm of a robotic motion planning using Dynamic Window Approach (DWA)
Advantages
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This algorithm is based on based on IMPROVED DYNAMIC WINDOW APPROACH BY USING LYAPUNOV STABILITY CRITERIA H. BERTI†, A.D. SAPPA‡ and O.E. AGAMENNONI∗
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The robot will automaticlly slow down when approaching the goal and never miss it
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Rather than the basic DWA, this algo. can drive the robot go through the narrow crevic and change the direction over 90 degrees
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The motion is smoothy
What included?
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The advanced DWA algorithm with some updates on formulas
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The simulator to run the algorithm and add obstructs as well
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The UDP thread to connect actual robot