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

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