中国工程机械学报

针对传统动态窗口法(DWA)中存在的绕行于稠密障碍物区外侧,造成总路程增加,遇见距离相近障碍物构成的"C"形障碍物组合而陷入评价函数失灵等问题,提出了基于改进型DWA的移动机器人避障路径规划。首先,基于本文提出的关键航迹点的概念,提取出A*全局规划路径轨迹中的关键航迹点;然后,以关键航迹点到待评价轨迹的距离作为依据,定义新的评价子函数,获得新型DWA评价函数。仿真结果表明:该基于改进型DWA的移动机器人避障路径规划能够提前规避"C"形障碍物组合,并且提升了传统DWA算法对稠密障碍区的通过性。仿真实验中总迭代次数、运行时间及总路程均缩短了10%以上。

In view of the problems existing in the traditional dynamic windows approach(DWA),such as going around the outside of the dense obstacle area,resulting in an increase in the total distance,and encountering the"C"shaped obstacle(combination)formed by obstacles with similar distances,resulting in the failure of the evaluation function,an obstacle avoidance path planning for mobile robots based on the improved DWA is proposed. First,based on the concept of critical track points proposed in this paper,the key track points in the path of A* global planning are extracted.Then,based on the distance from the critical track point to the trajectory to be evaluated,a new evaluation sub-function is defined and a new DWA evaluation function is obtained. Simulation results show that the improved DWA based mobile robot obstacle avoidance path planning can avoid the"C"shaped obstacles(combination)in advance,and improve the traditional DWA algorithm's passability to dense obstacle areas. In the simulation experiment,the total iteration times,running time and total distance are shortened by more than 10%.