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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Zhu, Yue (author) / Lu, Tongli (author)

    Conference:

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



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Mobile Robot Path Planning Based on Improved Ant Colony Fusion Dynamic Window Approach

    Shao, Lei / Li, Qi / Li, Chao et al. | British Library Conference Proceedings | 2021


    Q-Learning Based Robot Path Planning with Improved Dynamic Window Approach

    Yang, Xiuxia / Wang, Chenlei / Zhang, Yi et al. | Springer Verlag | 2022


    Global Dynamic Path Planning Based on Fusion of Improved A^* Algorithm and Dynamic Window Approach

    Cheng, Chuanqi / Hao, Xiangyang / Li, Jiansheng et al. | British Library Online Contents | 2017