Adaptive dynamic windowing approach based on risk degree function
Liu Yang,
Chunhui Li,
Qingtao Wang
et al.
Abstract:Aiming at the problem that the dynamic window approach (DWA) has low planning efficiency and it is difficult to avoid fast-moving obstacles, an improved adaptive DWA based on risk degree function is proposed in this paper. The risk function is designed and introduced into the evaluation function of the traditional DWA to evaluate the risk of collision between dynamic obstacles and the robot, so that the robot can effectively avoid faster obstacles. Then, according to the fuzzy control principle, the adaptive w… Show more
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