Íñigo Blasco, PabloDíaz del Río, FernandoVicente Díaz, SaturninoCagigas Muñiz, Daniel2022-11-092022-11-092014Íñigo Blasco, P., Díaz del Río, F., Vicente Díaz, S. y Cagigas Muñiz, D. (2014). The shared control dynamic window approach for non-holonomic semi-autonomous robots. En ISR/Robotik 2014: 41st International Symposium on Robotics and 8th German Conference on Robotics (355-360), Munich, Germany: IEEE Computer Society.978-3-8007-3601-0https://hdl.handle.net/11441/139162A shared control method, called Shared Control Dynamic Window Approach, is presented. It is inspired in the Dynamic Window Approach (DWA) for autonomous mobile robots. It takes user commands by means of the control interface and provide the most suitable and kinodinamically feasible trajectory that guarantees obstacle avoidance. It provides navigation assistance to drive vehicles in unstructured environments and other scenarios where dynamic constraints play an important role . In order to keep an intuitive control for the user, the intrusiveness of the method varies gradually and proportionally with the danger of collision. Preliminary experiments with users driving vehicles in a simulated world validate the method. Its implementation is public under General Public License.application/pdf6engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccess