Local Path Planning of Mobile Robot Based on Improved DWA
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.
local path planningIDWAadaptive parameter adjustment
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