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• W4320037966 abstract "Dynamic Windows Approach (DWA) is a common local trajectory planning algorithm, and the parameters of cost function directly affect the speed of the vehicle. To improve the speed characteristic of DWA, this paper proposes an optimization method of DWA cost function parameters based on variable compass operator pigeon-inspired optimization (PIO). Firstly, a trajectory planning environment model including starting point, obstacles and target point is established. Secondly, a multi-objective optimization cost function is obtained based on direction, safety and speed. Finally, three weight coefficients of DWA cost function are automatically optimized based on the variable compass operator pigeon-inspired optimization and simulated by Matlab. The result shows that the DWA cost function with optimized parameters has better time response characteristic. Besides, the optimized parameters are also effective for the new map with random obstacles." @default.
• W4320037966 created "2023-02-12" @default.
• W4320037966 creator A5006117976 @default.
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• W4320037966 date "2023-01-01" @default.
• W4320037966 modified "2023-10-14" @default.
• W4320037966 title "Parameter Optimization of Dynamic Windows Approach Cost Function Based on Variable Compass Operator PIO" @default.
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• W4320037966 doi "https://doi.org/10.1007/978-981-19-6613-2_693" @default.
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