A Modified Dynamic Window Approach to Obstacle Avoidance Combined with Fuzzy Logic

@article{Hong2015AMD,
  title={A Modified Dynamic Window Approach to Obstacle Avoidance Combined with Fuzzy Logic},
  author={Zhang Hong and Sun Chun-long and Zheng Zi-jun and An Jian Wei and Zhou De-qiang and Wu Jing-jing},
  journal={2015 14th International Symposium on Distributed Computing and Applications for Business Engineering and Science (DCABES)},
  year={2015},
  pages={523-526}
}
As a classic reactive method for obstacles avoidance, the dynamic window approach (DWA) uses an objective function to choose the optimal velocity commands. The objective function consists of three weighted terms, respectively urging the robot to face to the target point, avoid crash and move fast. The environment where robot works is usually complex and changeable, and different situations need different weights. However, the original DWA and its extensions use constant weights, and there is no… CONTINUE READING