An improved dynamic window approach integrated global path planning

Fuhai Zhang; Ning Li; Tiegang Xue; Ying Zhu; Rupeng Yuan; Yili Fu

doi:10.1109/ROBIO49542.2019.8961684

An improved dynamic window approach integrated global path planning

Fuhai Zhang^*
, Ning Li
, Tiegang Xue
, Ying Zhu
, Rupeng Yuan
, Yili Fu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

25 Scopus citations

Abstract

Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2873-2878
Number of pages	6
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961684
State	Published - Dec 2019
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 6 Dec 2019 → 8 Dec 2019

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	6/12/19 → 8/12/19

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10.1109/ROBIO49542.2019.8961684

Cite this

Zhang, F., Li, N., Xue, T., Zhu, Y., Yuan, R., & Fu, Y. (2019). An improved dynamic window approach integrated global path planning. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 2873-2878). Article 8961684 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961684

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title = "An improved dynamic window approach integrated global path planning",

abstract = "Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.",

author = "Fuhai Zhang and Ning Li and Tiegang Xue and Ying Zhu and Rupeng Yuan and Yili Fu",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",

year = "2019",

month = dec,

doi = "10.1109/ROBIO49542.2019.8961684",

language = "英语",

series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2873--2878",

booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

address = "美国",

}

Zhang, F, Li, N, Xue, T, Zhu, Y, Yuan, R & Fu, Y 2019, An improved dynamic window approach integrated global path planning. in IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961684, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 2873-2878, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 6/12/19. https://doi.org/10.1109/ROBIO49542.2019.8961684

An improved dynamic window approach integrated global path planning. / Zhang, Fuhai; Li, Ning; Xue, Tiegang et al.
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2873-2878 8961684 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An improved dynamic window approach integrated global path planning

AU - Zhang, Fuhai

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AU - Xue, Tiegang

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AU - Yuan, Rupeng

AU - Fu, Yili

PY - 2019/12

Y1 - 2019/12

N2 - Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.

AB - Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.

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M3 - 会议稿件

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T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

SP - 2873

EP - 2878

BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 6 December 2019 through 8 December 2019

ER -

Zhang F, Li N, Xue T, Zhu Y, Yuan R, Fu Y. An improved dynamic window approach integrated global path planning. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2873-2878. 8961684. (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). doi: 10.1109/ROBIO49542.2019.8961684

An improved dynamic window approach integrated global path planning

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