Local path planning of mobile robot based on self-adaptive dynamic window approach

Abstract

Dynamic Window Approach (DWA) is widely used in the local path planning of mobile robot. DWA algorithm has the advantages of simple planning algorithm and good realtime performance. However, the DWA exists unreachable target point, unreasonable path planning in the dense obstacles and it cannot ensure both speed and security. Therefore, an online parameter self-adaptive DWA algorithm is proposed to automatically adjust the weight of the objective function on the basis of the size of alternative velocity space and the distance between the mobile robot to the target point. By adapting to the dynamic changes of the environment, the optimal running speed and reasonable path of mobile robot can be obtained. The simulation verified that the mobile robot can pass through the dense obstacles area and reach the target point safely and reliably. And the problems that the robot might move around the dense obstacles and result in an unsmooth path are avoided. and the operational efficiency of the mobile robot is ensured simultaneously.