Local Path Planning: Dynamic Window Approach With Virtual Manipulators Considering Dynamic Obstacles

Masato Kobayashi,Naoki Motoi

doi:10.1109/access.2022.3150036

Abstract

Local path planning considering static and dynamic obstacles for a mobile robot is one of challenging research topics. Conventional local path planning methods generate path candidates by assuming constant velocities for a certain period time. Therefore, path candidates consist of straight line and arc paths. These path candidates are not suitable for dynamic environments and narrow spaces. This paper proposes a novel local path planning method based on dynamic window approach with virtual manipulators (DWV). DWV consists of dynamic window approach (DWA) and virtual manipulator (VM). DWA is the local path planning method that performs obstacle avoidance for static obstacles under robot constraints. DWA also generates straight line and arc path candidates by assuming constant velocities. VM generates velocities of reflective motion by using virtual manipulators and environmental information. DWV generates path candidates by variable velocities modified by VM and predicted positions of static and dynamic obstacles. Therefore, in an environment with dynamic obstacles, the obstacle-avoidable paths which include non-straight line and non-arc paths are generated. The effectiveness of the proposed method was confirmed from simulation and experimental results.

Highlights

In recent years, researches on service robots have been active due to infectious diseases and aging population
This paper focuses on local path planning methods
We reported the local path planning method based on virtual manipulators (VM) and dynamic window approach (DWA) [25]

Summary

INTRODUCTION

Researches on service robots have been active due to infectious diseases and aging population. When VO methods generate velocity of obstacle-avoidable path candidates by using velocity space, robots velocities are assumed as constant. DWA generates path candidates by using the velocity space with dynamics constraints (VSD). In order to consider static and dynamic obstacles and guarantee path candidates at velocities within VSD, this paper proposes dynamic window approach with virtual manipulators (DWV). By using VM and predicted obstacle position, DWV generates path candidates considering static and dynamic obstacles. 3) Step 2-3b (Algorithm 2 lines 12-13) In DWV, velocities considering static and dynamic obstacles are generated by predicted positions of obstacles Oobs and VM. By using vdwv and ωfdwv, path candidates by DWV include non-straight line and non-arc paths as shown, since DWV modifies angular velocities ωfdwv for each time step. 1 5 0.1 20 0.1 0.55 [m/s] -0.3 [m/s] 5 [rad/s] -5 [rad/s] 2 [m/s2] 5 [rad/s2] 6 20 4 [s] 0.1 [s] 0.5 [m] 0.3 [m]

LOCAL PATH PLANNIG METHODS

Method

VIII. CONCLUSION