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journal article Aug 23, 2024

An improved fuzzy‐controlled local path planning algorithm based on dynamic window approach

Aizun Liu ORCID Chong Liu ORCID Lei Li ORCID Ruichen Wang ORCID Zhicheng Lu
Journal of Field Robotics Vol. 42 No. 2 pp. 430-454 · Wiley
View at Publisher Save 10.1002/rob.22419
Abstract
AbstractWith the increasingly complex operating environment of mobile robots, the intelligent requirements of robots are getting higher and higher. Navigation technology is the core of mobile robot intelligent technology research, and path planning is an important function of mobile robot navigation. Dynamic window approach (DWA) is one of the most popular local path planning algorithms nowadays. However, there are also some problems. DWA algorithm is easy to fall into local optimal solution without the guidance of global path. The traditional solution is to use the key nodes of the global path as the temporary target points. However, the guiding ability of the temporary target points will be weakened in some cases, which still leads DWA to fall into local optimal solutions such as being trapped by a “C”‐shaped obstacle or go around outside of a dense obstacle area. In a complex operating environment, if the local path deviates too far from the global path, serious consequences may be caused. Therefore, we proposed a trajectory similarity evaluation function based on dynamic time warping method to provide better guidance. The other problem is poor adaptability to complex environments due to fixed evaluation function weights. And, we designed a fuzzy controller to improve the adaptability of the DWA algorithm in complex environments. Experiment results show that the trajectory similarity evaluation function reduces algorithm execution time by 0.7% and mileage by 2.1%, the fuzzy controller reduces algorithm execution time by 10.8% and improves the average distance between the mobile robot and obstacles at the global path's danger points by 50%, and in simulated complex terrain environment, the finishing rate of experiments improves by 25%.
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Metrics
7
Citations
39
References
Details
Published
Aug 23, 2024
Vol/Issue
42(2)
Pages
430-454
License
View
Authors
A
Aizun Liu

Aerospace Era Feihong Technology Company Ltd. Beijing China

C
Chong Liu

School of Mechanical Engineering and Automation Northeastern University Shenyang China

L
Lei Li

School of Mechanical Engineering and Automation Northeastern University Shenyang China

R
Ruichen Wang

School of Mechanical Engineering and Automation Northeastern University Shenyang China

Z
Zhicheng Lu

School of Mechanical Engineering and Automation Northeastern University Shenyang China

Cite This Article
Aizun Liu, Chong Liu, Lei Li, et al. (2024). An improved fuzzy‐controlled local path planning algorithm based on dynamic window approach. Journal of Field Robotics, 42(2), 430-454. https://doi.org/10.1002/rob.22419
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