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This node is a robot controlled based on the Dynamic Window Approach described in "Fox, D.; Burgard, W.; Thrun, S., "The dynamic window approach to collision avoidance" Robotics and Automation Magazine, IEEE , vol.4, no.1, pp.23-33, Mar 1997".

It differs from the original approach in that the best speed are found by random sampling the search space instead of using a fixed step incremental search. This allows the controller to run at a specific frequency while still guaranteeing a good solution.

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Code Stability

This code is stable. Although I cannot guarantee the absence of bugs, I've used it for several years with different robot platform and it always proved reliable. Please feel free to send any comment and/or bug report to lorenzo.riano (at) gmail.com.


2020-09-12 12:36