DWA-based Dynamic Obstacle Avoidance Planning Method for USVs
Kexin Luo, Shiyou Chen, Yu Wang · 2023
To solve the problem of environment perceived instability in the process of autonomous navigation of USVs, a local planning method based on DYNAMIC WINDOWS APPROACH is proposed for the known static obstacles and unknown dynamic obstacles collision avoidance planning in the navigation area of USVs, and combined with the Velocity Obstacle method, the velocity obstacle region is incorporated in the dynamic window to further optimize the speed constrained It also sets the fusion to start distance and limit distance in the evaluation function to take into account the safety and economy of the planning and improves the efficiency of the dynamic window method to evaluate the predicted trajectory for finding the best. The simulation results verify that the improved DWA can achieve automatic obstacle avoidance in complex environments, and ensure the safety of obstacle avoidance navigation while the planning path is more reasonable and smooth, avoiding the USVs from bypassing outside the dense obstacle cluster, and the number of iterations and running time are reduced by more than 15%. The research results have more obvious scientific value and practical significance to the development of autonomous obstacle avoidance technology for unmanned vehicles.