Autonomous Mobile Robot Path Planning Based on Improved DWA for Following Human Inside Staircase

Aiming at the problems of difficult to locate the tracking target position and loss of the tracking target point in the process of assisting firefighters' disaster relief tasks for the stair-climbing robot, a path planning method based on the improved DWA for the staircase environment is propos...

Full description

Saved in:
Bibliographic Details
Published in2024 5th International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM) pp. 498 - 504
Main Authors Li, Junqiang, Chen, Zhiang, Zhong, Yongchao, Wang, Juan
Format Conference Proceeding
LanguageEnglish
Published IEEE 26.04.2024
Subjects
improved DWA
intermediate points
Mechatronics
Path planning
Real-time systems
Robot sensing systems
Simulation
stair-climbing robots
Stairs
Target tracking
Online AccessGet full text

Cover

More Information
Summary:Aiming at the problems of difficult to locate the tracking target position and loss of the tracking target point in the process of assisting firefighters' disaster relief tasks for the stair-climbing robot, a path planning method based on the improved DWA for the staircase environment is proposed. By applying the pull-wire sensor information installed in the gimbal and the LiDAR information, the target tracking and localization and the motion phase division are realized. By analyzing the motion mode of stairs, the problem of target disappearance cannot complete path planning is found. By appropriately selecting the midpoint between straight line and turn in the staircase environment, this problem is overcome. For the problem of constant weight dynamic window approach (DWA), which has obstacle avoidance failure and unreasonable path, an improved DWA is proposed by considering the human body tracking constraints and combining with the segmented path planning method. The simulation results show that the proposed method can accomplish the real-time following of a human by a robot in a staircase environment.
DOI:10.1109/ICMTIM62047.2024.10629386