Research paper
Adding convergence to dynamic-window avoidance
The paper combines fast dynamic-window collision avoidance with a convergent navigation design using control-Lyapunov and predictive-control ideas. It targets the failure of ordinary dynamic-window methods to reach a goal despite avoiding collisions.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A convergent dynamic window approach to obstacle avoidance
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Authors
- P. Ogren, N.E. Leonard
- DOI
- 10.1109/tro.2004.838008
- Journal issue date
- 2005-04
- Source language
- en
- Source country
- US
- Edition
- IEEE Transactions on Robotics
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
The paper combines fast dynamic-window collision avoidance with a convergent navigation design using control-Lyapunov and predictive-control ideas. It targets the failure of ordinary dynamic-window methods to reach a goal despite avoiding collisions.
Use and review
Guarantees are conditional on the stated dynamics, sensing and constraint assumptions. Abstract/source screening does not validate a complete robot installation or an ISO13849 safety function.
Sources & editions
A convergent dynamic window approach to obstacle avoidance ↗
Institute of Electrical and Electronics Engineers (IEEE) · IEEE Transactions on Robotics
Primary author-institution abstract/title/authors/DOI and IEEE TRO21(2),188–195,April2005 checked.