A modified Dynamic Window Approach to Obstacle Avoidance combined with Fuzzy Logic
As a classic reactive method for obstacles avoidance,the dynamic window approach(DWA)uses an objective function to choose the optimal velocity commands.The objective function consists of three weighted terms,respectively urging the robot to face to the target point,avoid crash and move fast.The environment where robot works is usually complex and changeable,and different situations need different weights.However,the original DWA and its extensions use constant weights,and there is no existing algorithm for changing them.In this paper,we propose a modified DWA combined with fuzzy logic.This can be done by analyzing the information about goal and obstacles,and then using fuzzy logic to decide suitable weights in real time.In contrast with the original DWA,the proposed method makes robot move more safely and smoothly.
Local Path Planning Dynamic Window Approach Weights Fuzzy Logic
Zhang Hong Sun Chun-long Zheng Zi-jun An Wei Zhou De-qiang Wu Jing-jing
Jiangsu Provincial Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi,21412 College of Mechanical Engineering,Jiangnan University,Wuxi,214122,China
国际会议
贵阳
英文
523-526
2015-08-18（万方平台首次上网日期，不代表论文的发表时间）