摘要
针对四轮差速移动底盘在路径规划中遇到的局部最优问题以及目标不可达到的问题,提出了一种改进的动态窗口法(dynamic window approach,DWA)。在传统DWA算法的基础上对评价函数进行了改进,针对局部最优问题,引入预碰撞评价函数,能够使移动底盘在移动过程中提前避开位于移动底盘和目标点之间的障碍物以及凹型障碍物;针对目标不可达问题,改进航向评价函数的权重系数,将航向角评价函数权重系数设为随移动底盘与目标距离减小而增大的权重函数,能够有效解决目标不可达问题。改进后的DWA算法可通过新的评价函数规划出更为合理高效的移动路径。通过对改进DWA算法进行MATLAB仿真实验验证表明,改进后的DWA算法具有良好的效果,保证了四轮差速移动底盘良好的避障性能。
Aiming at the local optimization problem and the target unreachability problem encountered in the path planning of four-wheel differential mobile chassis,this paper proposes an improved dynamic window approach(DWA).On the basis of the traditional DWA algorithm,the evaluation function is improved.For the local optimization problem,this paper introduces the pre-collision evaluation function,which enables the mobile chassis to avoid obstacles located between the mobile chassis and the target point as well as concave obstacles in advance in the process of moving;for the target inaccessibility problem,this paper improves the weight coefficients of the heading evaluation function,and the weight coefficients of the heading angle evaluation function are set to be increased with the decrease of distance from the target point to the mobile chassis,which increases with the decrease of distance from the target.For the target unreachable problem,this paper improves the weight coefficient of the heading evaluation function,and sets the weight coefficient of the heading angle evaluation function as the weight function that increases as the distance between the moving chassis and the target decreases,which can effectively solve the target unreachable problem.The improved DWA algorithm can plan a more reasonable and efficient moving path with the new evaluation function.The MATLAB simulation experiments on the improved DWA algorithm show that the improved DWA algorithm has good effects and ensures the good obstacle avoidance performance of the four-wheel differential mobile chassis.
作者
张延军
韩雨
ZHANG Yanjun;HAN Yu(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《组合机床与自动化加工技术》
北大核心
2024年第9期98-103,107,共7页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
路径规划
四轮差速
改进动态窗口法(DWA)
评价函数
path planning
four-wheel differential speed
improved dynamic window approach(DWA)
evaluation function
