信息与控制2024，Vol.53Issue(2)：226-237,12.DOI:10.13976/j.cnki.xk.2023.2578
基于融合引-斥力与动态窗口法的机器人静动态局部路径规划方法优化
Optimization of Robot Static Dynamic Local Path Planning Method Based on Integrating Attraction-Repulsion and Dynamic Window Approach
摘要
Abstract
To address unreasonable trajectory evaluation selection and low obstacle avoidance efficiency problems of the dynamic window approach(DWA)used in obstacle scenes of building construc-tion,we propose a static and dynamic local path planning method for robots based on integrating attraction-repulsion and DWA.First,we improve the constraint conditions of velocity sampling with and without obstacles for multi-obstacle environments.Second,we optimize the navigation e-valuation function to increase the running speed.Finally,we propose an evaluation function to solve the unreasonable trajectory selection problem and optimize the obstacle avoidance evaluation function by combining repulsion thought.Experiment results in different environments show that the performance of the proposed algorithm,including iteration times,running time,and path length,can be optimized by 20％approximately.The improvement in various performance indica-tors can reach more than 25％,which solves the problems of unreasonable trajectory evaluation se-lection and low obstacle avoidance efficiency in the original and improved DWAs in complex obsta-cle environments.关键词
引-斥力/动态窗口法(DWA)/移动机器人/路径规划/静动态障碍Key words
attraction-repulsion/dynamic window approach(DWA)/mobile robot/path planning/static and dynamic obstacle分类
信息技术与安全科学引用本文复制引用
赵亮,李春轩,张玮奇,陈登峰,李兆强..基于融合引-斥力与动态窗口法的机器人静动态局部路径规划方法优化[J].信息与控制,2024,53(2):226-237,12.基金项目
陕西省自然科学基金项目(2019JM-474) （2019JM-474）
