Path planning based on fuzzy-control dynamic window approach

Wantong Chen; Qianqian Yang; Min Chen; Xiaoqiang Li; Zhuo Liu

doi:10.1117/12.3011486

1 December 2023 Path planning based on fuzzy-control dynamic window approach

Wantong Chen, Qianqian Yang, Min Chen, Xiaoqiang Li, Zhuo Liu

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401C (2023) https://doi.org/10.1117/12.3011486
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

A method integrating rapidly-exploring random tree (RRT) and improved dynamic window approach (DWA) is proposed to realize obstacle avoidance of mobile robots in complex dynamic obstacle environments. Based on the known environment information, the global optimal safe path is generated using the improved RRT algorithm. To address the problem of too many invalid nodes in the expansion of the RRT algorithm, the efficiency of the algorithm is improved by introducing a bidirectional alternating search (BAS) strategy; the forward search tree and the backward search tree alternate searching paths with new nodes as the target nodes until the paths meet; and the redundant nodes in the paths are removed using path node filtering to shorten the path. Secondly, the DWA algorithm is used to track the improved RRT algorithm to plan the path. When unknown obstacles appear in the environment, the weights of the DWA algorithm evaluation function are dynamically adjusted by fuzzy control to avoid the obstacles and return to the original route in time. Finally, the simulation experiments verify that the proposed improved fusion algorithm in complex dynamic environment has short running time, small path cost, and always keeps a safe distance from the obstacles to ensure the optimal path is tracked while safely avoiding the dynamic obstacles.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wantong Chen, Qianqian Yang, Min Chen, Xiaoqiang Li, and Zhuo Liu "Path planning based on fuzzy-control dynamic window approach", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401C (1 December 2023); https://doi.org/10.1117/12.3011486

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Detection and tracking algorithms

Robots

Fuzzy logic

Mobile robots

Control systems

Safety

Unmanned aerial vehicles

Keywords/Phrases

Search In:

Publication Years