Reactive Collision Avoidance: Dynamic Window Approach

Type of course:

Digital learning, Lesson

Language:

Duration:

20 minutes

Workload:

2 hours

Proficiency:

Advanced

Target:

Professionals, Students

This nugget gives the theoretical background of the Dynamic-Window-Approach algorithm used as local planner in mobile robotics. It then explains what are the important parameters of the algorithm and shows how these parameters can be tuned to improve the navigation of the TurtleBot3 robot. The implementation of the Dynamic Window Approach is achieved within the popular robotics framework ROS2, in particular, its second version of Navigation Stack for mobile robotics.

Learning outcomes

Students repeat the principle of reactive collision avoidance with DWA
Students explain how the Dynamic-Window-Approach algorithm works
Students describe the most important parameters of the DWA algorithm and tune them to fit their needs