RRT*-Fuzzy Dynamic Window Approach (RRT*-FDWA) for Collision-Free Path Planning

Abstract

Path planning is an important aspect and component in the research of mobile-robot-related technologies. Many path planning algorithms are only applicable to static environments, while in practical tasks, the uncertainty in dynamic environments increases the difficulty of path planning and obstacle avoidance compared with static environments. To address this problem, this paper proposes an RRT*-FDWA algorithm. RRT* first generates a global optimal path, and then, when obstacles exist nearby, an FDWA algorithm fixes the local path in real time. Compared with other path planning algorithms, RRT*-FDWA can avoid local minima, rapidly perform path replanning, generate a smooth optimal route, and improve the robot’s maneuvering amplitude. In this paper, the effectiveness of the algorithm is verified through experiments in dynamic environments.