Parameter Fuzzy Self-Adaptive Dynamic Window Approach for Local Path Planning of Wheeled Robot

Abstract

As a classic algorithm for realizing robot local path planning, the dynamic window approach (DWA) uses an objective function to choose the optimal velocity commands. However, the path generated by the DWA in the complex environment is not smooth. Therefore, this paper proposes an improved DWA algorithm to make the path of the robot more smoother when avoiding obstacles. At the same time, in view of the condition that the weight coefficients of the evaluation function of the original DWA remain unchanged, this paper will add a fuzzy controller to realize the weight coefficients adaptation, so as to adapt to a more complex environment, and the generated path can be smoother.