A Tractable Convergent Dynamic Window Approach to
Petter Ogren and Naomi Ehrich Leonard
IEEE/RSJ International Conference on Intelligent Robots and
The dynamic window approach is a well known navigation scheme
developed by Fox et. al. and extended by Brock and Khatib.
It is safe by construction and has been shown to perform very
efficiently in experimental setups. However, one can construct
examples where the proposed scheme fails to attain the goal
configuration. What has been lacking is a theoretical treatment of
the algorithm's convergence properties.
A first step towards such a treatment was presented in Ogren and Leonard.
Here we continue that work with a computationally tractable
algorithm resulting from a careful discretization of the
optimal control problem of the
previous paper and a way to construct
a continuous Navigation Function.
Inspired by the similarities between the
Dynamic Window Approach and the Control Lyapunov Function and
Receding Horizon Control synthesis put forth by Primbs et. al.,
we propose a
version of the Dynamic Window Approach that is tractable and provably