Local Path Planning for Unmanned Surface Vehicle based on the Improved DWA Algorithm
Zhikun Tan, Naxin Wei, Zhengfeng Liu · 2022 41st Chinese Control Conference (CCC) · 2022
The dynamic windows approach (DW A) is widely used in local path planning, however the path planned by the traditional dynamic window approach will bypass the periphery of the dense obstacle area, which makes the distance longer and close to the dynamic obstacle. In view of the problem, this paper proposes a local path planning algorithm for usv based on the improved dynamic windows approach algorithm. Firstly, the commonly used path planning algorithm and DWA algorithm are briefly introduced. According to the problem of traditional dynamic windows approach, the concept of obstacle search angle is proposed to better deal with the impact of obstacles on USV navigation. Numerical simulation results show that the improved method is superior to the traditional algorithm in path length, navigation time and average speed, and has stronger obstacle avoidance adjustment ability.