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Enhanced DWA algorithm for local path planning of mobile robot

Xin Lai (School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, China; Oil and Gas Equipment Technology Sharing and Service Platform of Sichuan Province, Chengdu, China and The State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Southwest Petroleum University, Chengdu, China)
Dan Wu (School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, China)
Di Wu (School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, China)
Jia He Li (School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, China)
Hang Yu (School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 16 August 2022

Issue publication date: 2 January 2023

553

Abstract

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.

Keywords

Acknowledgements

This work was supported in part by the Open Fund of the State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation under Grant PLN2020-10, in part by the Sichuan Science and Technology Department Application Foundation Project 2019YJ0311, in part by the Extracurricular Open Experiment Program of Southwest Petroleum University 2021KSZ03022.

Citation

Lai, X., Wu, D., Wu, D., Li, J.H. and Yu, H. (2023), "Enhanced DWA algorithm for local path planning of mobile robot", Industrial Robot, Vol. 50 No. 1, pp. 186-194. https://doi.org/10.1108/IR-05-2022-0130

Publisher

:

Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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