Robot path planning algorithms can plan a safe path from one point to another, and Dynamic Window Approach (DWA) is a commonly used planning algorithm. However, such method usually does not consider the direction of the robot, so that the robot at the planning end point has a large deviation from the desired direction. At the same time, the robot is not sensitive enough to dynamic obstacles during planning. In this paper, a fuzzy-based improved DWA is proposed for path planning of mobile robot. In the local path planning, the cost functions of the traditional DWA are optimized to regulate the robot direction. The fuzzy controller is introduced to dynamically tune the planning tendency of the robot in each stage. Compared with the traditional DWA algorithm, the improved DWA algorithm can enable the robot to complete the planning with end-direction constraints in unknown environments. Simulations of two static scenes and two dynamic scenes show that robot can move to the destination in high direction accuracy and effectively avoid obstacle with fuzzy-based DWA.


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    Titel :

    A Fuzzy-Based Improved Dynamic Window Approach for Path Planning of Mobile Robot


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Zhu, Yue (Autor:in) / Lu, Tongli (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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