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Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm.

Ying Sun1,2, Wenlu Wang1,3, Manman Xu1,2

  • 1Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China.

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|October 14, 2023
PubMed
Summary
This summary is machine-generated.

This study enhances robot path planning using fuzzy logic and global path integration with the dynamic window approach (DWA). The improved DWA reduces planning time and path length while ensuring safe obstacle avoidance in dynamic environments.

Keywords:
dynamic path planningdynamic windowing algorithmefficient human–robot collaborationfuzzy controlmobile robot

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Control Systems

Background:

  • Human-robot collaboration is increasing, necessitating advanced mobile robot path planning.
  • Existing dynamic window approaches (DWA) struggle with dynamic environments and suboptimal paths due to fixed weight coefficients.

Purpose of the Study:

  • To optimize the dynamic window approach (DWA) for mobile robot path planning.
  • To improve obstacle avoidance and global path adherence in dynamic environments.

Main Methods:

  • Implemented fuzzy control logic to dynamically adjust weight coefficients in the DWA's evaluation function.
  • Integrated global path information as key sub-target sites for local motion planning.
  • Modified motion planning to maintain adherence to the global path after local obstacle avoidance.

Main Results:

  • The enhanced DWA reduced planning time by 16% and path length by 5%.
  • Demonstrated effective obstacle avoidance and global path following in diverse dynamic environments.
  • Achieved improved performance compared to traditional DWA, avoiding local optima.

Conclusions:

  • The proposed fuzzy logic-based DWA significantly improves mobile robot navigation in dynamic settings.
  • This method offers a more robust and efficient solution for real-world human-robot collaborative applications.