Ship Local Path Planning Based on Improved Dynamic Window Algorithm
A ship motion path planning based on improved DWA algorithm was proposed.In this meth-od,fuzzy rules were formulated by fuzzy control method,and a fuzzy controller was designed.In the face of different complex dynamic environments,this method could dynamically adjust the weight of its own evaluation function.The simulation contrast experiments under static and dynamic obstacles were designed.The results show that the proposed method can adapt to various complex external en-vironments.
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维普
