%0 Journal Article
	%A Baoshan Wei and  Shuai Han and  Xing Zhang
	%D 2019
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 148, 2019
	%T An Improved Dynamic Window Approach with Environment Awareness for Local Obstacle Avoidance of Mobile Robots
	%U https://publications.waset.org/pdf/10010267
	%V 148
	%X Local obstacle avoidance is critical for mobile robot
navigation. It is a challenging task to ensure path optimality and
safety in cluttered environments. We proposed an Environment
Aware Dynamic Window Approach in this paper to cope with
the issue. The method integrates environment characterization into
Dynamic Window Approach (DWA). Two strategies are proposed
in order to achieve the integration. The local goal strategy guides
the robot to move through openings before approaching the final
goal, which solves the local minima problem in DWA. The adaptive
control strategy endows the robot to adjust its state according
to the environment, which addresses path safety compared with
DWA. Besides, the evaluation shows that the path generated from
the proposed algorithm is safer and smoother compared with
state-of-the-art algorithms.
	%P 303 - 310