Dynamic Window Approach with a differential drive robot

Target obstacle Obstacle Robot Candidate paths Trail

Parameters

Robot width (m) 0.20 Max wheel velocity (m/s) 0.50 Max acceleration (m/s²) 0.50 Forward weight 12 Obstacle weight 6666 Steps ahead to plan 15 Time step Δt (s) 0.05 Barrier velocity σ (m/s) 0.05 Simulation speed 2.50×