Study on Improved Dynamic Window Approach for Mobile Robot Under Narrow Channel

In this paper, a local planning algorithm that relies on an improved Dynamic Window Approach to address the global path-tracking challenge encountered by mobile robots is introduced. The approach presented here leverages the global path and map preprocessing information to refine the Dynamic Window Approach. Additionally, it harnesses the global path details to direct the operation of the Dynamic Window Approach, enhancing its evaluation function. Ultimately, the local path planning method is deployed to achieve trajectory tracking for the mobile robot within environments featuring narrow channels. The simulation outcomes demonstrate the heightened efficiency and precision of the enhanced algorithm in accurately tracking the global path across various obstacle environments.