Obstacle avoidance path planning of mobile robot based on improved DWA

Abstract

A new dynamic window algorithm is proposed to solve the problem that the optimal trajectory is difficult to plan and the trajectory is not smooth due to the dense obstacles in the complex workshop path planning task. The algorithm sets the initial direction angle, and then improves the evaluation function through the direction angle change factor to improve the efficiency and flexibility of the algorithm; The fuzzy controller is used to adjust the coefficient of the evaluation function, which improves the adaptability of the mobile robot to the complex workshop environment. The MATLAB simulation results show that the improved DWA can plan a more reasonable and smooth running path in the area with dense obstacles, and has better obstacle avoidance effect while ensuring the safety of the robot.