基于改进DWA算法的移动机器人避障研究  

Research on Obstacle Avoidance of Mobile Robot Based on Improved DWA Algorithm

作　　者：王超 梅瑛[2] 张溢 赵匡清 WANG Chao;MEI Ying;ZHANG Yi;ZHAO Kuangqing(North University of China,School of mechanical Engineering,Taiyuan 030051,China;North University of China,Innovation and Entrepreneurship Academy,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051 [2]中北大学创新创业学院,太原030051

出　　处：《机械设计与研究》2024年第1期92-96,共5页Machine Design And Research

基　　金：山西省自然科学基金面上项目(201901D111128)。

摘　　要：传统窗口动态法(DWA)在运行过程中,机器人会与障碍物发生相切现象,且此时运行速度和角速度会发生突变,不利其长期安全、稳定的运行。针对这一现象,提出了一种基于两直线相交的方法用以改进DWA算法。首先利用速度传感器测出障碍物的移动速度,然后基于该障碍物的移动速度模拟其在预测时间内的轨迹,并将该障碍物的模拟轨迹与预测时间内机器人的模拟轨迹进行对比,最后基于两直线位置关系设计评价函数,进而规划出最合适的行驶路径。在MATLAB 2020a环境中进行多组仿真试验对比表明,改进算法后的机器人运行轨迹更加安全,运行过程更加平稳,有助于提高机器人的安全性和使用寿命。With the operation of traditional dynamic window approach(DWA),the robot can become tangent to obstacles,and the running speed and angular speed will change suddenly at this time,which is not conducive to its long-term safe and stable operation.Aiming at this phenomenon,this paper proposes a method based on the intersection of two lines to improve the DWA algorithm.Firstly,the speed sensor is used to measure the moving speed of the obstacle,based on which the trajectory of the obstacle in the predicted time is simulated.The simulated trajectory of the obstacle is compared with that of the robot in the predicted time.Finally,the evaluation function is designed based on the position relation of the two straight lines,and then the most appropriate driving path is planned.Multi-group simulation in MATLAB 2020a environment shows that the robot running track is safer and the running process is more stable after the improved algorithm,which is helpful to improve the safety and service life of the robot.

关 键 词：DWA算法 直线相交法 速度传感器 距离评价函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]