With the operation of traditional dynamic window approach(DWA),the robot can become tangent to obstacles,and the running speed and angular speed will change suddenly at this time,which is not conducive to its long-term safe and stable operation.Aiming at this phenomenon,this paper proposes a method based on the intersection of two lines to improve the DWA algorithm.Firstly,the speed sensor is used to measure the moving speed of the obstacle,based on which the trajectory of the obstacle in the predicted time is simulated.The simulated trajectory of the obstacle is compared with that of the robot in the predicted time.Finally,the evaluation function is designed based on the position relation of the two straight lines,and then the most appropriate driving path is planned.Multi-group simulation in MATLAB 2020a environment shows that the robot running track is safer and the running process is more stable after the improved algorithm,which is helpful to improve the safety and service life of the robot.
DWA algorithmthe intersection of two linesspeed sensorevaluation function of distance
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