App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 11

Robot path planning based on improved soo and adaptive dwa

Zhang Lin
Li Aohan
Chen Xixian
Tong Wenqiang
School of Mechanical and Electrical Engineering, Anhui University of Science and Technology, Hefei 232001, China
DOI: 10.19734/j.issn.1001-3695.2026.04.0083

Abstract

To address local optimum trapping in global planning, unstable local guidance, and weak obstacle avoidance under dynamic disturbances in mobile robot path planning, this study proposed a hierarchical path planning method that integrates an Improved Stellar Oscillation Optimizer (ISOO) and an Adaptive Dynamic Window Approach (ADWA) . In the global layer, ISOO applied an improved Circle chaotic map to refine the initial population, a dynamic dimension mask to weaken dimension coupling, and an elite fixed-point perturbation to strengthen late-stage exploitation. In the local layer, ADWA used forward-looking targets for guidance, temporary targets for escape under occlusion, and adaptive evaluation-function weights for obstacle avoidance. Simulations on three grid maps showed that the method reached a 100% success rate, shortened the average path length by 11.62%, 15.92%, and 28.52% and the average planning time by 40.95%, 54.17%, and 32.24% relative to the standard SOO, and attained the lowest path-length standard deviation. The method also reduced redundant turning points from 8 to 4 with a 31% shorter path, and completed obstacle avoidance, path return, and goal arrival in head-on, crossing, and same-direction dynamic scenarios. The results indicate that the method outperforms existing approaches in path quality, convergence stability, and dynamic obstacle avoidance, and provides an effective solution for autonomous navigation in complex dynamic environments.

Foundation Support

安徽省高校协同创新项目(GXXT-2023-005)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2026.04.0083
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 11

Publish History

[2026-07-17] Accepted Paper

Cite This Article

张林, 李傲寒, 陈玺先, 等. 改进SOO与自适应DWA的机器人路径规划 [J]. 计算机应用研究, 2026, 43 (11). (2026-07-31). https://doi.org/10.19734/j.issn.1001-3695.2026.04.0083. (Zhang Lin, Li Aohan, Chen Xixian, et al. Robot path planning based on improved soo and adaptive dwa [J]. Application Research of Computers, 2026, 43 (11). (2026-07-31). https://doi.org/10.19734/j.issn.1001-3695.2026.04.0083. )

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  • Application Research of Computers Monthly Journal
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    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.

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