Algorithmic Study of Four-Wheel Differential Mobile Chassis Modeling Based on Improved DWA
Aiming at the local optimization problem and the target unreachability problem encountered in the path planning of four-wheel differential mobile chassis,this paper proposes an improved dynamic win-dow approach(DWA).On the basis of the traditional DWA algorithm,the evaluation function is im-proved.For the local optimization problem,this paper introduces the pre-collision evaluation function,which enables the mobile chassis to avoid obstacles located between the mobile chassis and the target point as well as concave obstacles in advance in the process of moving;for the target inaccessibility problem,this paper improves the weight coefficients of the heading evaluation function,and the weight coefficients of the head-ing angle evaluation function are set to be increased with the decrease of distance from the target point to the mobile chassis,which increases with the decrease of distance from the target.For the target unreachable problem,this paper improves the weight coefficient of the heading evaluation function,and sets the weight coefficient of the heading angle evaluation function as the weight function that increases as the distance be-tween the moving chassis and the target decreases,which can effectively solve the target unreachable prob-lem.The improved DWA algorithm can plan a more reasonable and efficient moving path with the new e-valuation function.The MATLAB simulation experiments on the improved DWA algorithm show that the improved DWA algorithm has good effects and ensures the good obstacle avoidance performance of the four-wheel differential mobile chassis.
path planningfour-wheel differential speedimproved dynamic window approach(DWA)e-valuation function
万方数据
维普
