Dynamic Path Planning for Mobile Robot Based on RRT* and Dynamic Window Approach

Authors

Rui Zhang, Nanjing University of Information Science &Technology, Nanjing 210000, ChinaFollow
Li Zhou, Nanjing University of Information Science &Technology, Nanjing 210000, China; Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing 210000, China; Jiangsu Engineering Research Center on Meteorological Energy Using and Control (C-MEIC), Nanjing 210000, ChinaFollow
Zhengyang Liu, Nanjing University of Information Science &Technology, Nanjing 210000, China

Abstract

Abstract: A dynamic path planning method combining RRT* and dynamic window approach(DWA) is proposed to realize the obstacle avoidance of mobile robot in complex environment of dynamic obstacles. Improved RRT* algorithm is used to generate the global optimal safe path based on the known environment information. By eliminating the dangerous nodes generated by RRT* algorithm, the security of global path is ensured. Greedy algorithm is used to remove the redundant nodes in the path to reduce the length of global path. DWA is used to track along the global optimal path planned by the improved RRT* algorithm. When static obstacles appear on the global path, the weights of DWA algorithm evaluation function is adjusted twice to avoid the obstacles and return to the original path in time. When moving obstacles is in the environment. By detecting the dangerous distance in advance, changing direction and speeding up, the robot can safely drive away from the area. Simulation experiments verify that the improved fusion algorithm proposed in complex dynamic environment has shorter running time, smaller path cost, and always keeps safe distance from obstacles, which ensures the optimal tracked path while safely avoiding the dynamic obstacles.

Recommended Citation

Zhang, Rui; Zhou, Li; and Liu, Zhengyang (2024) "Dynamic Path Planning for Mobile Robot Based on RRT* and Dynamic Window Approach," Journal of System Simulation: Vol. 36: Iss. 4, Article 14.
DOI: 10.16182/j.issn1004731x.joss.22-1543
Available at: https://dc-china-simulation.researchcommons.org/journal/vol36/iss4/14

First Page

957

Last Page

968

CLC

TP242.6

Recommended Citation

Zhang Rui, Zhou Li, Liu Zhengyang. Dynamic Path Planning for Mobile Robot Based on RRT* and Dynamic Window Approach[J]. Journal of System Simulation, 2024, 36(4): 957-968.

Corresponding Author

Zhou Li

DOI

10.16182/j.issn1004731x.joss.22-1543