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Jia-Hao Zhu

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Open access Oct 2026

Improved DWA-Based Local Path Planning for Multi-Robot Navigation

The Dynamic Window Approach (DWA) evaluates candidate motions for local robot navigation. This paper presents an Improved Dynamic Window Approach (IDWA) with two changes to trajectory evaluation. First, a distance threshold selects a near-term reference state on each predicted trajectory for heading evaluation. Second,...

Jia-Hao Zhu, Yuan-Kang Wang, Kai Liao et al. · 0 citations

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