Improvement of Dynamic Window Approach in Dynamic Obstacle Environment

摘要

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.