Multi-robot local path planning based on an improved dynamic window algorithm

This paper proposes an improved Dynamic Window Approach (DWA) algorithm, referred to as WE-DWA, designed to address the shortcomings of traditional DWA in terms of safety, flexibility, and advanced planning capabilities in complex environments. By incorporating path loop detection and reverse motion mechanisms, the new algorithm avoids repetitive paths; adaptive adjustments to speed and angular velocity enhance the algorithm's flexibility; and a path coordination mechanism is employed to consider the collaboration among robots. These enhancements significantly improve the obstacle avoidance and path planning capabilities of the DWA algorithm in complex environments, providing an efficient and flexible solution for multi-robot systems. Simulation experiments have validated the feasibility and effectiveness of the proposed algorithm.