Construction of Novel Self-Adaptive Dynamic Window Approach Combined With Fuzzy Neural Network in Complex Dynamic Environments
Dian Yang, Su Chen, Hang Wu, Xinxi Xu, Xiuguo Zhao
Abstract
The traditional Dynamic Window Approach (DWA) with constant weight values of the evaluation function leads to the inability of obstacle avoidance for the Automated Guided Vehicles (AGV) to perform obstacle avoidance and path planning in the complex environment. Effective avoidance of complex obstacles requires adaptive weight adjustment to address the evaluation function’s challenges. This paper proposes an adaptive DWA (ADWA), which introduces neural network training on the basis of the Mamdani DWA (MDWA). Firstly, the Mamdani type fuzzy controller is designed, and then the adaptive neuro-fuzzy controller is obtained by neural network training. Then, experiments are carried out through the MATLAB simulation environment. The simulation experiment results show that the improved DWA compared to traditional DWA can make the AGV pass the obstacle environment with a better trajectory and reduce the time. The improved DWA improves the autonomous obstacle avoidance capability of AGVs, which not only perfectly fits our task requirements, but also has apparent scientific and practical significance in developing AGV autonomous obstacle avoidance technology.