A Dynamic Window Approach with Collision Suppression Cone for Avoidance of Moving Obstacles

In this paper, we present a new approach, named as dynamic window approach with collision suppression cone (DWA-CSC), to handle the issue of a robot avoiding moving obstacles in a partially known dynamic environment. The concept of collision suppression cone is firstly introduced to define a probable collision area. When moving obstacles approach this area, the proposed DWA-CSC will be activated to allow the robot avoiding the obstacles smoothly and thus preventing collision with them by suppressing its motion direction and velocity, just like the way of obstacle avoidance done by human beings. Various simulation results show that the proposed DWA-CSC approach indeed achieve the avoidance of moving obstacles safely and smoothly.