Enhanced DWA algorithm for local path planning of mobile robot

Purpose>The purpose of this study is to solve the problems of poor stability and high energy consumption of the dynamic window algorithm (DWA) for the mobile robots, a novel enhanced dynamic window algorithm is proposed in this paper.Design/methodology/approach>The novel algorithm takes the di...

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Bibliographic Details
Published inIndustrial robot Vol. 50; no. 1; pp. 186 - 194
Main Authors Lai, Xin, Wu, Dan, Wu, Di, Li, Jia He, Yu, Hang
Format Journal Article
LanguageEnglish
Published Bedford Emerald Group Publishing Limited 02.01.2023
Subjects
Algorithms
Angular velocity
Dynamic stability
Energy consumption
Fuzzy logic
Path planning
Robotics
Robots
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Summary:Purpose>The purpose of this study is to solve the problems of poor stability and high energy consumption of the dynamic window algorithm (DWA) for the mobile robots, a novel enhanced dynamic window algorithm is proposed in this paper.Design/methodology/approach>The novel algorithm takes the distance function as the weight of the target-oriented coefficient, and a new evaluation function is presented to optimize the azimuth angle.Findings>The jitter of the mobile robot caused by the drastic change of angular velocity is reduced when the robot is closer to the target point. The simulation results show that the proposed algorithm effectively optimizes the stability of the mobile robot during operation with lower angular velocity dispersion and less energy consumption, but with a slightly higher running time than DWA.Originality/value>A novel enhanced dynamic window algorithm is proposed and verified. According to the experimental result, the proposed algorithm can reduce the energy consumption of the robot and improves the efficiency of the robot.
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ISSN:0143-991X
0143-991X
1758-5791
DOI:10.1108/IR-05-2022-0130