Multi-Robot Multi-Objective Path Planning Based on Improved DWA Algorithm
Yuhan Qi, Yuxin Zhang, Xingcheng Pu · 2023
In order to solve problems of DWA (Dynamic-Window Approach) in path planning, such as easily trapping into local optimal solutions, fixing evaluation function coefficients and using a single obstacle avoidance strategy for multi-robots under multi-objective environments, a novel FA-DWA (Fast Adaptive-Dynamic Window Approach) algorithm is proposed. In this new FA-DWA algorithm, three mainly aspects are considered. Firstly, based on the distance between the mobile robot and the obstacle, the evaluation function of DWA can be dynamically adjusted to improve the adaptability. Secondly, based on a deflection angle assigned to the low-priority robot, an encounter coordination strategy is used to avoid collision problems for multi-robots. Thirdly, the F-RRT* algorithm is used to obtain the global path to avoid falling into the local optimal. Finally, some simulation experiments are given to prove the validity and effectiveness of the improved algorithms.