基于速度方向判定的动态窗口法

Dynamic Window Approach Based on Judgment of Speed Direction

动态窗口法(Dynamic Window Approach-DWA)广泛应用于移动机器人局部避障中,但存在路径不合理及轨迹不平滑的问题。基于此,提出了改进的动态窗口法。求执行速度时,窗口中所有速度先形成预轨迹,然后移除预轨迹与障碍物相交的速度,接着考虑剩余速度的方向,并根据机器人预测位置、速度以及离障碍物最小距离,获得允许速度,从而机器人得到更加合理的执行速度。实验验证了改进的DWA算法在相同环境和自身约束下规划的路径更加合理,机器人能够通过密集障碍物区域,且运行的效率更高。

Dynamic window approach is widely used in local obstacle avoidance of mobile robots.But,there is a problem of irrational path and unsmooth trajectory.Based on this problem,this paper presents an improved dynamic window method.First,when seeking execution speed,all speeds in the window form a pre-trajectory.Then discard the speed of pre-trajectory intersecting the obstacle.Next,consider the direction of the remaining speed and obtain the allowable speed based on the robot's predicted position,velocity,and minimum distance from the obstacle.Thus,the robot gets a more reasonable execution speed.Experiments show that the improved DWA algorithm can make the path more reasonable under the same environment and self-restraint,the robot can pass the dense obstacle area,and the efficiency is higher.