As a classic algorithm for realizing robot local path planning, the dynamic window approach (DWA) uses an objective function to choose the optimal velocity commands. However, the path generated by the DWA in the complex environment is not smooth. Therefore, this paper proposes an improved DWA algorithm to make the path of the robot more smoother when avoiding obstacles. At the same time, in view of the condition that the weight coefficients of the evaluation function of the original DWA remain unchanged, this paper will add a fuzzy controller to realize the weight coefficients adaptation, so as to adapt to a more complex environment, and the generated path can be smoother.

中文翻译：

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轮式机器人局部路径规划的参数模糊自适应动态窗口法

作为实现机器人局部路径规划的经典算法，动态窗口法（DWA）使用目标函数来选择最优速度指令。但是，复杂环境下DWA生成的路径并不顺畅。因此，本文提出了一种改进的 DWA 算法，使机器人在避障时的路径更加平滑。同时，针对原DWA评价函数权重系数不变的情况，本文将增加模糊控制器实现权重系数自适应，以适应更复杂的环境，生成的路径可以更平滑。