Abstract
The dynamic window approach (DWA) controls the movement of the robot by searching the speed space and is widely used in the path planning of mobile robots. However, in the dynamic obstacle environment, when searching for the optimal speed, it is easy to fall into the local optimal solution, which leads to the failure of path planning. In this paper, we improve DWA. According to the speed of the obstacle, the safe distance of the obstacle is dynamically changed to improve the obstacle distance evaluation item of the DWA. A new evaluation item is introduced into the speed evaluation function to optimize the search rules of the DWA in the speed space. The experimental results show that in the dynamic obstacle environment, this method can ensure the robot reaches the target point smoothly and shorten the time spent in the whole process by improving the speed evaluation function.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
