Mobile Robot Path Planning with Improved DWA Algorithm under Dynamic Complex Scene

This paper proposes a fusion Dynamic Window Approach (DWA) and A* algorithm based on affinity mechanism to deal with complex dynamic situation. The algorithm proposed in this paper is mainly improved on the traditional DWA algorithm. Firstly, an affinity evaluation term is added to the evaluation function of DWA algorithm, so that the global path has a more profound impact on the selection of local planning paths. Then, the update strategy of temporary target point is proposed, which automatically updates to the next target point when the conditions are met. The results of the simulations show that compared with traditional fusion algorithms, fusion algorithm based on affinity mechanism can better solve the path planning problem of robots in complex situation.