DWA Configuration

Configuration guide for the Dynamic Window Approach planner.

Configuration File 

Location: config/dwa_config.yaml

# DWA Planner Configuration

vehicle:
  max_speed: 5.0          # Maximum forward speed (m/s)
  min_speed: 0.0          # Minimum speed (m/s)
  max_yaw_rate: 1.0       # Maximum rotation rate (rad/s)
  max_accel: 2.0          # Maximum acceleration (m/s²)
  max_yaw_rate_accel: 3.0 # Maximum rotation acceleration (rad/s²)
  robot_radius: 0.8       # Collision radius (m)

sampling:
  v_resolution: 0.2       # Velocity sampling resolution (m/s)
  yaw_rate_resolution: 0.1 # Yaw rate sampling resolution (rad/s)

prediction:
  dt: 0.1                 # Time step for trajectory prediction (s)
  predict_time: 2.0       # Prediction horizon (s)

costs:
  goal_cost_gain: 1.0     # Weight for goal heading cost
  speed_cost_gain: 0.5    # Weight for speed cost
  obstacle_cost_gain: 2.0 # Weight for obstacle avoidance cost

Parameter Reference 

Vehicle Parameters 

max_speed (float)

Maximum forward velocity in meters per second.

Default: 5.0
Range: 0.0 - 10.0
Higher values allow faster travel but require more stopping distance

robot_radius (float)

Radius used for collision checking in meters.

Default: 0.8
Should be >= actual vehicle radius + safety margin

Cost Weights 

goal_cost_gain (float)

Weight for alignment with goal direction.

Higher: More aggressive goal seeking
Lower: More conservative path selection

obstacle_cost_gain (float)

Weight for obstacle clearance.

Higher: Larger margins around obstacles
Lower: Closer passes permitted

Tuning Guide 

For Narrow Spaces 

vehicle:
  max_speed: 2.0
  robot_radius: 0.5
costs:
  obstacle_cost_gain: 3.0

For Open Areas 

vehicle:
  max_speed: 5.0
prediction:
  predict_time: 3.0
costs:
  speed_cost_gain: 1.0

DWA Configuration

Configuration File

Parameter Reference

Vehicle Parameters

Cost Weights

Tuning Guide

For Narrow Spaces

For Open Areas