Obstacle avoidance path planning of mobile robot based on improved DWA
نویسندگان
چکیده
A new dynamic window algorithm is proposed to solve the problem that optimal trajectory difficult plan and not smooth due dense obstacles in complex workshop path planning task. The sets initial direction angle, then improves evaluation function through angle change factor improve efficiency flexibility of algorithm; fuzzy controller used adjust coefficient function, which adaptability mobile robot environment. MATLAB simulation results show improved DWA can a more reasonable running area with obstacles, has better obstacle avoidance effect while ensuring safety robot.
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ژورنال
عنوان ژورنال: Journal of physics
سال: 2022
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2383/1/012098