Baoshan Wei and  Shuai Han and  Xing Zhang,  An Improved Dynamic Window Approach with Environment Awareness for Local Obstacle Avoidance of Mobile Robots.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    March 2019, vol. 148(4). 303 - 310
    [viewed 12 November 2019]. Available from: https://publications.waset.org/pdf/10010267.