TY - GEN
T1 - A Dynamic Path Planning Algorithm Based on the Improved DWA Algorithm
AU - Yan, Xiaozhen
AU - Ding, Ruochen
AU - Luo, Qinghua
AU - Ju, Chunyu
AU - Wu, Di
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Because of its superior obstacle avoidance capability, the Dynamic Window Approach (DWA) algorithm has been widely used in local dynamic path planning nowadays. However, in areas with dense obstacles, the DWA algorithm prefers to go around the outside of the dense obstacle area, which increases the total distance. In addition, when encountering a "C"shaped obstacle, the objective cost function will fail and the path will not be found. Therefore, this paper proposes a method to improve the DWA algorithm. Based on the existing constraints, we also propose to score the distance between the current point and the target. In our experiments, we use the traditional DWA algorithm as a reference method and compare the two algorithms in maps with different characteristics. The experimental results demonstrate that the improved DWA algorithm achieves better results in obstacle avoidance.
AB - Because of its superior obstacle avoidance capability, the Dynamic Window Approach (DWA) algorithm has been widely used in local dynamic path planning nowadays. However, in areas with dense obstacles, the DWA algorithm prefers to go around the outside of the dense obstacle area, which increases the total distance. In addition, when encountering a "C"shaped obstacle, the objective cost function will fail and the path will not be found. Therefore, this paper proposes a method to improve the DWA algorithm. Based on the existing constraints, we also propose to score the distance between the current point and the target. In our experiments, we use the traditional DWA algorithm as a reference method and compare the two algorithms in maps with different characteristics. The experimental results demonstrate that the improved DWA algorithm achieves better results in obstacle avoidance.
KW - DWA algorithm
KW - mobile robot
KW - path planning algorithm
UR - https://www.scopus.com/pages/publications/85143126668
U2 - 10.1109/PHM-Yantai55411.2022.9942106
DO - 10.1109/PHM-Yantai55411.2022.9942106
M3 - 会议稿件
AN - SCOPUS:85143126668
T3 - 2022 Global Reliability and Prognostics and Health Management Conference, PHM-Yantai 2022
BT - 2022 Global Reliability and Prognostics and Health Management Conference, PHM-Yantai 2022
A2 - Guo, Wei
A2 - Li, Steven
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 Global Reliability and Prognostics and Health Management Conference, PHM-Yantai 2022
Y2 - 13 October 2022 through 16 October 2022
ER -