High-Speed Navigation Using the Global Dynamic Window Approach

Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generatlization of the dynamic window approach. It combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of highvelocity, goal-directed, reactive motion for a mobile robot in unknown and dynamic environments. The global dynamic window approach is applicable to nonholonomic and holonomic mobile robots.