Research on Robot Path Planning Based on HGS-IDWA Algorithm
In response to the path planning problem of robots, a fusion of Hunger Game Search (HGS) algorithm and Improved Dynamic Window Algorithm (IDWA) is proposed to further optimize the robot path planning algo-rithm. Firstly, HGS algorithm is applied for static planning. Secondly, in the dynamic planning stage, to address the problem of unreasonable path selection in traditional DWA, a new objective function is introduced to optimize the speed selection when approaching the target. The number of obstacles is added to the speed evaluation function to improve the efficiency of dynamic planning. Finally, through simulation cases and field tests, the optimal path obtained by the robot in avoiding dynamic obstacles is analyzed.
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维普
