基于改进DWA的移动机器人局部路径规划
Local Path Planning of Mobile Robot Based on Improved DWA
熊冬杪 1宁勇强 1王嘉炜 1曾亮亮1
作者信息
- 1. 江西理工大学能源与机械工程学院,江西 南昌 330013
- 折叠
摘要
针对DWA算法易陷入局部最优、路径平滑度不高和对环境适应度低等问题,提出一种自适应参数调整的改进DWA算法(IDWA).通过引入角速度评价子函数和加速度评价子函数优化路径评价函数,并提出了基于障碍物位置信息的自适应参数调整算法.实验结果表明,改进后的DWA算法相比传统DWA算法在规划路径长度上缩短 9.04%,时间上减少4.16%,速度抖振时间上减少 78.57%,提高了算法的性能,能有效避免碰撞,生成更快、更短、更平滑的路径.
Abstract
Aiming at the problems that the DWA algorithm is prone to getting local optimality,the path is not smooth,and the environmental adaptability is low,an improved DWA algorithm with adaptive parameter adjustment is proposed in this paper.The path evaluation function is optimized by introducing the angular velocity evaluation sub-function and the ac-celeration evaluation sub-function,and an adaptive parameter adjustment algorithm based on obstacle position information is proposed.The experimental results show that the improved DWA algorithm is 9.04%shorter in planning path length,4.16%less time and 78.57%less speed.Compared with the DWA algorithm,it improves the performance of the algorithm,can ef-fectively avoid collisions,and generate faster,shorter,and smoother paths.
关键词
局部路径规划/改进DWA/自适应参数调整Key words
local path planning/IDWA/adaptive parameter adjustment引用本文复制引用
出版年
2024
NETL
NSTL
万方数据