Obstacle Avoidance of Two-Wheeled Mobile Robot based on DWA Algorithm

摘要

Autonomous mobile robot is an integrated system which integrates many functions such as environment perception, dynamic strategy and planning, behavior control and execution. In recent years, mobile robot technology has played an important role in many fields such as industry, agriculture, medicine, aerospace and aviation. Intelligent robots require more and more real-time, adaptability and optimization for unknown environments. Only with the ability of autonomous action can they realize their value. Robot obstacle avoidance has been widely studied since the emergence of mobile robots, but at the beginning, this technology has not been studied as a separate technology. Intelligent obstacle avoidance is one of the hotspots and difficulties in the field of research. Intelligent obstacle avoidance is able to effectively avoid obstacles and reach the end point according to certain methods according to the information collected from obstacles. People usually use path planning to realize it. Path planning is used to decide how a robot walks in the environment that is the key technology to realize the intelligent robot. Path planning is used to guide the action and behavior of a mobile robot to reach its target location. According to some optimization criteria, an optimal path from the starting point to the target point can be found in the navigation range of a mobile robot, and obstacles can be avoided. The path has some characteristics, such as the shortest distance or the least time. This paper discussed the issue of obstacle avoidance of two-wheeled mobile robot based on DWA algorithm. By building maps, placing obstacles and testing the DWA algorithm on ROS, it is concluded that the DWA algorithm can be well applied in the field of robot obstacle avoidance.