躍度モデルに基づいたDWAの改良手法

抄録

The Dynamic Window Approach (DWA) method, due to its constant acceleration model with velocity invariance assumption, the generated paths concentrate the arrival points in a narrow range, and it is impossible to control jerk. To solve these problems, we propose a method for generating variable velocity path based on jerk models. First, we changed DWA's constant acceleration model to constant jerk model, which allows us to limit the maximum jerk as a parameter. Then, we use constant jerk model to generate variable velocity sequences to obtain a wider range of paths. Finally, we added the jerk value as a term to the evaluation function to prevent consistently large jerk. We compared the proposed method with the original method in three different simulator environments and in the real world, verifying the effectiveness of the proposed method.