An improved obstacle avoidance control algorithm based on dynamic window method
Gang Wang, Shumin Ding · 2025
In view of the traditional dynamic window method (DWA) speed sampling window is too conservative, the evaluation function mechanism has defects, and can not efficiently avoid obstacles in dynamic environment, this paper proposes an improved DWA algorithm. The algorithm modifies the velocity sampling window, optimizes the sampling position and modifies the evaluation function. At the same time, considering dynamic obstacles, it realizes more complex dynamic obstacle avoidance. Based on the MATLAB simulation platform, it is verified that the improved DWA algorithm has more efficient obstacle avoidance ability, and can also efficiently and smoothly complete the obstacle avoidance task in the dynamic environment.