An Improved Dynamic Window Approach for Mobile Robot Dynamic Path Planning

摘要

Dynamic window approach (DWA) is a local obstacle avoidance algorithm based on velocity sampling of a mobile robot. When the mobile robot based on the DW A algorithm faces moving obstacles,the obstacle can easily collide with the robot if the speed of the obstacle is too fast. Based on the traditional dynamic window approach, the weighting value of its evaluation function is modified to optimize the obstacle avoidance performance of the robot. The simulation results show that the proposed method can avoid dynamic obstacles safely.