An Effective Dynamic Path Planning Approach for Mobile Robots Based on Ant Colony Fusion Dynamic Windows

Abstract

To further improve the path planning of the mobile robot in complex dynamic environments, this paper proposes an enhanced hybrid algorithm by considering the excellent search capability of the ant colony optimization (ACO) for global paths and the advantages of the dynamic window approach (DWA) for local obstacle avoidance. Firstly, we establish a new dynamic environment model based on the motion characteristics of the obstacles. Secondly, we improve the traditional ACO from the pheromone update and heuristic function and then design a strategy to solve the deadlock problem. Considering the actual path requirements of the robot, a new path smoothing method is present. Finally, the robot modeled by DWA obtains navigation information from the global path, and we enhance its trajectory tracking capability and dynamic obstacle avoidance capability by improving the evaluation function. The simulation and experimental results show that our algorithm improves the robot's navigation capability, search capability, and dynamic obstacle avoidance capability in unknown and complex dynamic environments.

Global path guided vehicle obstacle avoidance path planning with artificial potential field method

“…The parameters k att , k rep y , and k rep correspond to the gravitational force, dynamic obstacle repulsion, and static obstacle repulsion, respectively, as shown in Equations ( 17)- (19). When k all is large, the attraction of the shortest path to the cart on the way to obstacle avoidance will be larger, which makes the cart tend to the shortest path earlier and cause a collision.…”

“…The artificial potential field (APF) method is a virtual force method in which the obstacle generates a repulsive field, the target point generates a gravitational field in the obstacle environment, and the cart determines the next forward direction based on the combined force of the applied repulsive and gravitational forces. The APF method is widely used in dynamic path planning because of its advantages, such as simple description and small computational effort [19][20][21][22]. By adding virtual sub-target points, the authors in Ref.…”

Distributed Multi-Mobile Robot Path Planning and Obstacle Avoidance Based on ACO–DWA in Unknown Complex Terrain

“…The DWA fully considers the limitations of the mechanical characteristics of the mobile robots and the environments. The hybrid strategy of ACO-DWA has been well reported in some papers [40,41] recently. Based on the consideration of environmental characteristics, we propose a new fusion strategy and apply a multi-robot system.…”

An adaptive dynamic window approach for UUV obstacle avoidance planning in 3D environments

“…In recent years, DWA has made many improvements in the above two aspects [4]. In terms of constructing the search space, Seder and Petrovic [5] used an occupied grid map to build the robot's search space for solving the dynamic obstacle avoidance problem and modeled dynamic obstacles as moving cells to predict their motion.…”