Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm
Due to the increased employment of robots in modern society, path planning methods based on human–robot collaborative mobile robots have been the subject of research in both academia and industry. The dynamic window approach used in the research of the robot local path planning problem involves a mi...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/19/8260 |
| _version_ | 1797575186481938432 |
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| author | Ying Sun Wenlu Wang Manman Xu Li Huang Kangjing Shi Chunlong Zou Baojia Chen |
| author_facet | Ying Sun Wenlu Wang Manman Xu Li Huang Kangjing Shi Chunlong Zou Baojia Chen |
| author_sort | Ying Sun |
| collection | DOAJ |
| description | Due to the increased employment of robots in modern society, path planning methods based on human–robot collaborative mobile robots have been the subject of research in both academia and industry. The dynamic window approach used in the research of the robot local path planning problem involves a mixture of fixed weight coefficients, which makes it hard to deal with the changing dynamic environment and the issue of the sub-optimal global planning paths that arise after local obstacle avoidance. By dynamically modifying the combination of weight coefficients, we propose, in this research, the use of fuzzy control logic to optimize the evaluation function’s sub-functions and enhance the algorithm’s performance through the safe and dynamic avoidance of obstacles. The global path is introduced to enhance the dynamic window technique’s ability to plan globally, and important points on the global path are selected as key sub-target sites for the local motion planning phase of the dynamic window technique. The motion position changes after local obstacle avoidance to keep the mobile robot on the intended global path. According to the simulation results, the enhanced dynamic window algorithm cuts planning time and path length by 16% and 5%, respectively, while maintaining good obstacle avoidance and considering a better global path in the face of various dynamic environments. It is difficult to achieve a local optimum using this algorithm. |
| first_indexed | 2024-03-10T21:34:59Z |
| format | Article |
| id | doaj.art-c27b9e59673646f4aeb9ec97aefb974e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T21:34:59Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c27b9e59673646f4aeb9ec97aefb974e2023-11-19T15:05:02ZengMDPI AGSensors1424-82202023-10-012319826010.3390/s23198260Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window AlgorithmYing Sun0Wenlu Wang1Manman Xu2Li Huang3Kangjing Shi4Chunlong Zou5Baojia Chen6Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaCollege of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430081, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaCollege of Mechanical Engineering, Hubei University of Automotive Technology, Shiyan 442002, ChinaHubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang 443005, ChinaDue to the increased employment of robots in modern society, path planning methods based on human–robot collaborative mobile robots have been the subject of research in both academia and industry. The dynamic window approach used in the research of the robot local path planning problem involves a mixture of fixed weight coefficients, which makes it hard to deal with the changing dynamic environment and the issue of the sub-optimal global planning paths that arise after local obstacle avoidance. By dynamically modifying the combination of weight coefficients, we propose, in this research, the use of fuzzy control logic to optimize the evaluation function’s sub-functions and enhance the algorithm’s performance through the safe and dynamic avoidance of obstacles. The global path is introduced to enhance the dynamic window technique’s ability to plan globally, and important points on the global path are selected as key sub-target sites for the local motion planning phase of the dynamic window technique. The motion position changes after local obstacle avoidance to keep the mobile robot on the intended global path. According to the simulation results, the enhanced dynamic window algorithm cuts planning time and path length by 16% and 5%, respectively, while maintaining good obstacle avoidance and considering a better global path in the face of various dynamic environments. It is difficult to achieve a local optimum using this algorithm.https://www.mdpi.com/1424-8220/23/19/8260dynamic windowing algorithmefficient human–robot collaborationmobile robotdynamic path planningfuzzy control |
| spellingShingle | Ying Sun Wenlu Wang Manman Xu Li Huang Kangjing Shi Chunlong Zou Baojia Chen Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm Sensors dynamic windowing algorithm efficient human–robot collaboration mobile robot dynamic path planning fuzzy control |
| title | Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm |
| title_full | Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm |
| title_fullStr | Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm |
| title_full_unstemmed | Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm |
| title_short | Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm |
| title_sort | local path planning for mobile robots based on fuzzy dynamic window algorithm |
| topic | dynamic windowing algorithm efficient human–robot collaboration mobile robot dynamic path planning fuzzy control |
| url | https://www.mdpi.com/1424-8220/23/19/8260 |
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