Multiple interaction strategies for mobile robots based on improved dynamic window approach in unknown dynamic environments
Li He,
Shuai Zhang,
Heng Zhang
et al.
Abstract:Purpose
The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of interaction with obstacles and limiting the comprehensive performance of mobile robots. A dynamic window approach with multiple interaction strategies (DWA-MIS) is proposed to solve this problem.
Design/methodology/approach
The algorithm firstly classifies the moving obstacle movement intention, based on which a rule function is desi… Show more
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