{"title":"Enhanced DWA algorithm for local path planning of mobile robot","authors":"Xin Lai, Dan Wu, Di Wu, Jia He Li, Hang Yu","doi":"10.1108/ir-05-2022-0130","DOIUrl":null,"url":null,"abstract":"\nPurpose\nThe 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.\n\n\nDesign/methodology/approach\nThe 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.\n\n\nFindings\nThe 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.\n\n\nOriginality/value\nA 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.\n","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"75 1","pages":"186-194"},"PeriodicalIF":1.9000,"publicationDate":"2022-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Industrial Robot-The International Journal of Robotics Research and Application","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1108/ir-05-2022-0130","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, INDUSTRIAL","Score":null,"Total":0}
引用次数: 9
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.
期刊介绍:
Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world.
The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to:
Automatic assembly
Flexible manufacturing
Programming optimisation
Simulation and offline programming
Service robots
Autonomous robots
Swarm intelligence
Humanoid robots
Prosthetics and exoskeletons
Machine intelligence
Military robots
Underwater and aerial robots
Cooperative robots
Flexible grippers and tactile sensing
Robot vision
Teleoperation
Mobile robots
Search and rescue robots
Robot welding
Collision avoidance
Robotic machining
Surgical robots
Call for Papers 2020
AI for Autonomous Unmanned Systems
Agricultural Robot
Brain-Computer Interfaces for Human-Robot Interaction
Cooperative Robots
Robots for Environmental Monitoring
Rehabilitation Robots
Wearable Robotics/Exoskeletons.