Autonomous Mobile Robot Path Planning Based on Improved DWA for Following Human Inside Staircase

Aiming at the problems of difficult to locate the tracking target position and loss of the tracking target point in the process of assisting firefighters' disaster relief tasks for the stair-climbing robot, a path planning method based on the improved DWA for the staircase environment is proposed. By applying the pull-wire sensor information installed in the gimbal and the LiDAR information, the target tracking and localization and the motion phase division are realized. By analyzing the motion mode of stairs, the problem of target disappearance cannot complete path planning is found. By appropriately selecting the midpoint between straight line and turn in the staircase environment, this problem is overcome. For the problem of constant weight dynamic window approach (DWA), which has obstacle avoidance failure and unreasonable path, an improved DWA is proposed by considering the human body tracking constraints and combining with the segmented path planning method. The simulation results show that the proposed method can accomplish the real-time following of a human by a robot in a staircase environment.