.. _dynamic_window_approach:

Dynamic Window Approach
-----------------------

This is a 2D navigation sample code with Dynamic Window Approach.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DynamicWindowApproach/animation.gif

Code Link
+++++++++++++

.. autofunction:: PathPlanning.DynamicWindowApproach.dynamic_window_approach.dwa_control


Reference
~~~~~~~~~~~~

-  `The Dynamic Window Approach to Collision
   Avoidance <https://www.ri.cmu.edu/pub_files/pub1/fox_dieter_1997_1/fox_dieter_1997_1.pdf>`__

