A New Dynamic Window Approach Algorithm with Informed Rapidly Exploring Random Tree* Algorithm Implementation on a Robot Operating System
Jin Wang, Chen Zhu, Y Zhang · 2023
To enhance the performance of the Dynamic Window Approach (DWA) algorithm in complex obstacle environments and address its inability to handle negative-weighted edge graphs, this study proposes a path-planning algorithm that combines DWA with informed rapidly exploring random tree* (informed-RRT*). When the ROS robot is caught in a local optimum, informed-RRT* randomly setting temporarily goal as final goal to escape from the local optimum. The feasibility of the proposed algorithm is verified through practical testing experiment. The results show that the proposed algorithm can efficiently implement robot path searching in complex obstacle environments.