Efficient obstacle avoidance and path planning for mobile agent through complicated environments

Yinquan Yu; Haotian Chen; Dequan Zeng; Yiming Hu

doi:10.1117/12.3003871

11 October 2023 Efficient obstacle avoidance and path planning for mobile agent through complicated environments

Yinquan Yu, Haotian Chen, Dequan Zeng, Yiming Hu

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 1280064 (2023) https://doi.org/10.1117/12.3003871
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

The Dynamic Window Approach (DWA) suffers from unreasonable planning or is prone to obstacle avoidance failure when the mobile agent operates in a complex environment with dense obstacle distribution. An improved DWA path planning algorithm (IDWA) is proposed to address the above problems. Firstly, the heading angle function is modified to improve navigation ability for mobile agent reaching at the target point while ensuring operational safety. Secondly, the obstacle function is optimized to avoid the agent going around the obstacle’s edge. Finally, a complex scenario with multiple obstacles of different passing difficulties is constructed to verify the feasibility of the proposed method. Simulation experiments show that IDWA significantly improves the agent's passage efficiency and local search ability, and the path planning is more reasonable with smaller path deviation and heading deviation.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yinquan Yu, Haotian Chen, Dequan Zeng, and Yiming Hu "Efficient obstacle avoidance and path planning for mobile agent through complicated environments", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 1280064 (11 October 2023); https://doi.org/10.1117/12.3003871

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