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System Development & Application
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App. Res. of Comp. Printed Article
Vol. 42, 2025 No. 2
501-506

Obstacle avoidance method based on channel dynamic window approach

Liu Chunling
Liu Jiaxin
Guo Kaiwen
College of Information Engineering, Dalian University, Dalian Liaoning 116622, China
DOI: 10.19734/j.issn.1001-3695.2024.07.0235

Abstract

Local path planning algorithms for mobile robots in complex indoor environments faced the problems of inefficient avoidance of dynamic obstacles, detouring and inability to reach the target point. This paper proposed a channel dynamic windowing algorithm to solve the indoor path planning. The method selected the density-based applied noise spatial clustering algorithm(DBSCAN) to segment the obstacles first, create channels between neighboring obstacles, and discretize the generated channels to produce a series of channel points. Through the designed channel point evaluation function, this algorithm selected the optimal channel points as the temporary channel points for the dynamic window method to provide the correct direction for the dynamic window method. By applying the channel dynamic window method to perform path planning for ROS robots in real environments, the results show that the channel dynamic window method outperforms the dynamic window method in terms of the performance of path length, running time, and number of sampling times, exhibiting stronger adaptability and robustness, which effectively prevents the mobile robot from delaying obstacle avoidance and getting trapped in local positions. The algorithm can perform local path planning tasks independently, and can also be combined with the A* algorithm for global path planning.

Foundation Support

辽宁省教育基金资助项目(LJKZ1184)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.07.0235
Publish at: Application Research of Computers Printed Article, Vol. 42, 2025 No. 2
Section: System Development & Application
Pages: 501-506
Serial Number: 1001-3695(2025)02-024-0501-06

Publish History

[2025-02-05] Printed Article

Cite This Article

刘春玲, 刘佳昕, 郭楷文. 基于通道动态窗口法的避障方法 [J]. 计算机应用研究, 2025, 42 (2): 501-506. (Liu Chunling, Liu Jiaxin, Guo Kaiwen. Obstacle avoidance method based on channel dynamic window approach [J]. Application Research of Computers, 2025, 42 (2): 501-506. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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