Dynamic Window Approach https://www.ri.cmu.edu/pub_files/pub1/fox_dieter_1997_1/fox_dieter_1997_1.pdf Fox, D., Burgard, W., & Thrun, S. (1997). The dynamic window approach to collision avoidance. IEEE Robotics & Automation Magazine, 4(1), 23-33. https://navigation.ros.org/configuration/packages/configuring-dwb-controller.html DWB Controller — Nav2 1.0.0 documentation DWB Controller Source code o..