Local path planning for autonomous mobile robots by integrating modified dynamic-window approach and improved follow the gap method

Abstract

Mobile robots need to automatically generate a safe, goal-oriented, and fast collision-free trajectory in real-time during the movement in an indoor/outdoor environment. A planned trajectory must be adaptable and drivable with environmental changes where various static and moving obstacles may be present. The ultimate goal of a robot is to reach the destination without hitting any obstacles, therefore, a reactive local path planning algorithm is needed. In this paper, a novel local algorithm is proposed by integrating dynamic window approach (DWA) and improved follow the gap method (IFGM) to generate a collision-free trajectory for a mobile robot which is capable to avoid any moving obstacles presenting in the surrounding environment. In this proposed method, first, a safety distance is maintained according to the relative position of obstacles and the robot. Moreover, find a feasible gap to direct the robot toward the desired goal. Besides, the heading angle is calculated to change the direction of the robot for avoiding collision with nearby obstacles. After that, calculate the appropriate velocity for the robot. Finally, a robust, safe, and goal-directed trajectory is generated which does not suffer from global convergence and local minima problems. The performance and effectiveness of this proposed algorithm are evaluated by experimental results.