移动机器人
计算机科学
机器人
能源消耗
算法
抖动
理论(学习稳定性)
能量(信号处理)
方位角
功能(生物学)
模拟
控制理论(社会学)
实时计算
工程类
人工智能
数学
生物
进化生物学
统计
电信
电气工程
机器学习
控制(管理)
几何学
作者
Xinmin Lai,Dan Wu,Di Wu,Jia He Li,Hang Yu
出处
期刊:Industrial Robot-an International Journal
[Emerald (MCB UP)]
日期:2022-08-16
卷期号:50 (1): 186-194
被引量:14
标识
DOI:10.1108/ir-05-2022-0130
摘要
Purpose The purpose of this study is to solve the problems of poor stability and high energy consumption of the dynamic window algorithm (DWA) for the mobile robots, a novel enhanced dynamic window algorithm is proposed in this paper. Design/methodology/approach The novel algorithm takes the distance function as the weight of the target-oriented coefficient, and a new evaluation function is presented to optimize the azimuth angle. Findings The jitter of the mobile robot caused by the drastic change of angular velocity is reduced when the robot is closer to the target point. The simulation results show that the proposed algorithm effectively optimizes the stability of the mobile robot during operation with lower angular velocity dispersion and less energy consumption, but with a slightly higher running time than DWA. Originality/value A novel enhanced dynamic window algorithm is proposed and verified. According to the experimental result, the proposed algorithm can reduce the energy consumption of the robot and improves the efficiency of the robot.
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