A list,
DWA algorithm is called Dynamic Window Approach. Its principle is to sample multiple groups of velocities in the velocity space (V, W), and simulate the motion trajectory of these velocities within a certain time. Then, an evaluation function is used to score the trajectory, and the optimal velocity is selected and sent to the lower computer.
1 Principle Analysis
2 Velocity sampling
With the robot’s trajectory model, you can calculate the trajectory based on the velocity. So all you have to do is sample a lot of velocities, calculate the trajectory, and then evaluate whether the trajectory is good or not. (a) mobile robot restricted by their own maximum speed minimum speed (2) of the mobile robot is affected by the motor performance: due to the motor torque is limited, there is the biggest limit acceleration and deceleration, so the cycle of the mobile robot path forward simulation sim_period inside, there is a dynamic window, the window is the speed of the robot can achieve actual speed: (3) Safety considerations based on mobile robot: in order to be able to stop before hitting an obstacle, there is a range of speed under the maximum deceleration condition.
Ii. Source code
function varargout = Simulate(varargin)
clc
SamplingPeriod = 0.1;
time = 0;
timer1 = [];
txt_timer = [];
FuzzyLoaded = 0;
Z1 = [];
Z2 = [];
W_Zone = 20;
H_Zone = 20;
data = importdata ('fuzzytabledata.mat');
OUT1 = data.OUT1;
OUT2 = data.OUT2;
Z1 = reshape(OUT1(102:end,1)', 101, []); Z2 = reshape(OUT2(102:end,1)'.101[]); FuzzyLoaded =1;
scrsz = get(0.'ScreenSize');
% Create a figure that will have a uitable, axes and checkboxes
figure('Position'[15*scrsz(3) /100 70 scrsz(3)2 -* (15*scrsz(3) /100) scrsz(4)- 100.],...
'WindowStyle'.'normal'.'CloseRequestFcn',{@CloseFcn},...
'Name'.'DWA Simulation with dynamic Obstacles'. % Title figure'NumberTitle'.'off') % Do not show figure number
% figure('Position'[15*scrsz(3) /100 70 scrsz(3)2 -* (15*scrsz(3) /100) scrsz(4)- 100.],...
% 'WindowStyle'.'normal'. %'CloseRequestFcn',{@CloseFcn},...
% 'Name'.'DWA Simulation with dynamic Obstacles'. % Title figure %'NumberTitle'.'off'. % Donot show figure number
% 'MenuBar'.'none'); % Hide standard menu bar menus
% Create an axes set x and y limits to the value extremes, and format labels
W_Zone = ceil(W_Zone/10) *10;
H_Zone = ceil(H_Zone/10) *10;
haxes = axes('Units'.'normalized'.'Position'[25. .05 0.75 0.9],...
'XLim', [-W_Zone/2 W_Zone/2],...
'YLim', [-H_Zone/2 H_Zone/2],...
'XLimMode'.'manual'.'YLimMode'.'manual'.'XTick',-W_Zone/2:1:W_Zone/2.'YTick',-H_Zone/2:1:H_Zone/2); %,... %'XTickLabel'. % {'-10 m'.'-5 m'.'0'.'5 m'.'10 m'},...
% 'YTickLabel'. % {'-10 m'.'-5 m'.'0'.'5 m'.'10 m'});
set(haxes,'DataAspectRatio'[1 1 1]);
title(haxes, 'Simulation of Mobile Robot Dynamic Obstacle Avoidance') % Describe data set
% Prevent axes from clearing when new lines or markers are plotted
hold(haxes, 'all')
grid on;
uicontrol('Style'.'pushbutton'.'Units'.'normalized'.'Position'[. 02 86. 2. .05],...
'String'.'Start simulation'.'Value'.0.'Callback', {@StartSimulation});
uicontrol('Style'.'pushbutton'.'Units'.'normalized'.'Position'[. 02 81. 2. .05],...
'String'.'Resimulate'.'Value'.0.'Callback', {@ResetSimulation});
% % Create a text to show timer;
txt_timer = uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[. 02 915. 2. 035.],...
'FontWeight'.'bold'.'ForegroundColor'[0 2. 8.],...
'fontname'.'Helvetica'.'fontsize'.14.'BackgroundColor'.'w'.'String'.'00:00 00');
% % Create some texts to monitor variables;
txt_inp1 = uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[.05 54. . 08 035.],...
'FontWeight'.'bold'.'ForegroundColor'[0 0 0].'fontname'.'Helvetica'.'fontsize'.12.'BackgroundColor'[0.9 0.9 0.9]);
txt_inp2 = uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[14. 54. . 08 035.],...
'FontWeight'.'bold'.'ForegroundColor'[0 0 0].'fontname'.'Helvetica'.'fontsize'.12.'BackgroundColor'[0.9 0.9 0.9]);
txt_out1 = uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[.05 47. . 08 035.],...
'FontWeight'.'bold'.'ForegroundColor'[0 0 0].'fontname'.'Helvetica'.'fontsize'.12.'BackgroundColor'[0.9 0.9 0.9]);
txt_out2 = uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[14. 47. . 08 035.],...
'FontWeight'.'bold'.'ForegroundColor'[0 0 0].'fontname'.'Helvetica'.'fontsize'.12.'BackgroundColor'[0.9 0.9 0.9]);
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[.05 61. 15. 025.],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.10.'BackgroundColor'[0.8 0.8 0.8].'String'.'DWA weight adjustment ');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[00. 55. .05 . 02],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.9.'BackgroundColor'[0.8 0.8 0.8].'String'.'INPs :');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[00. 48. .05 . 02],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.9.'BackgroundColor'[0.8 0.8 0.8].'String'.Error value:);
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[.05 . 58 . 08 . 02],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.9.'BackgroundColor'[0.8 0.8 0.8].'String'.'Target course Angle');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[14. . 58 . 08 . 02],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.9.'BackgroundColor'[0.8 0.8 0.8].'String'.'Obstacles');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[.05 51. . 08 . 02],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.9.'BackgroundColor'[0.8 0.8 0.8].'String'.'Left deviation');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[14. 51. . 08 . 02],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.9.'BackgroundColor'[0.8 0.8 0.8].'String'.'Rightward deviation');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[The 09 78. 12. 025.],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.10.'BackgroundColor'[0.8 0.8 0.8].'String'.'X Y');
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[. 02 74. .06 .03],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.10.'BackgroundColor'[0.8 0.8 0.8].'String'.Starting point coordinates:);
uicontrol('Style'.'text'.'Units'.'normalized'.'Position'[. 02 7. .06 .03],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.10.'BackgroundColor'[0.8 0.8 0.8].'String'.'Target point coordinates:');
% % Create a text get Robot X0 Pos;
edit_robot_x0 = uicontrol('Style'.'edit'.'Units'.'normalized'.'Position'[The 09 74. .06 035.],... %'String'. %'Use Plot check boxes to graph columns'.'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.12);
% % Create a text get Robot Y0 Pos;
edit_robot_y0 = uicontrol('Style'.'edit'.'Units'.'normalized'.'Position'[16. 74. .06 035.],... %'String'. %'Use Plot check boxes to graph columns'.'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.12);
% % Create a text get Goal X Pos;
edit_goal_x = uicontrol('Style'.'edit'.'Units'.'normalized'.'Position'[The 09 7. .06 035.],... %'String'. %'Use Plot check boxes to graph columns'.'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.12);
% % Create a text get Goal Y Pos;
edit_goal_y = uicontrol('Style'.'edit'.'Units'.'normalized'.'Position'[16. 7. .06 035.],... %'String'. %'Use Plot check boxes to graph columns'.'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.12);
uicontrol('Style'.'pushbutton'.'Units'.'normalized'.'Position'[The 09 655. 13. . 04],... %'TooltipString'.'Update Values Independently'.'String'.'update'.'Value'.0.'Callback', {@UpdateParams});
slider_x = uicontrol('Style'.'slider'.'Units'.'normalized'.'Position'[. 02 . 41 2. 025.],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.10.'BackgroundColor'[0.8 0.8 0.8].'Min'.0.'Value'.1.'Max'.2.'SliderStep'[0.01 0.1]);
slider_y = uicontrol('Style'.'slider'.'Units'.'normalized'.'Position'[. 02 37. 2. 025.],...
'FontWeight'.'bold'.'fontname'.'Helvetica'.'fontsize'.10.'BackgroundColor'[0.8 0.8 0.8].'Min'.0.'Value'.1.'Max'.2.'SliderStep'[0.01 0.1]);
% uicontrol('Style'.'pushbutton'. %'Units'.'normalized'. %'Position'[0.35 95. 25. .05],... %'TooltipString'.'Update Values Independently'. %'String'.'Save Data'. %'Value'.0. %'Callback', {@SaveData});
% % Create an invisible marker plot of the data and save handles
% % to the lineseries objects; use this to simulate data brushing.
% % hmkrs = plot([1:10], [1:10]. ^2.'LineStyle'.'none'. % %'Marker'.'o'. % %'MarkerFaceColor'.'y'. % %'HandleVisibility'.'off'. % %'Visible'.'on');
% Create three check boxes to toggle plots for columns
% uicontrol('Style'.'checkbox'. %'Units'.'normalized'. %'Position'[10. 96. The 09 035.],...
% 'TooltipString'.'Check to plot column 1'. %'String'.'Col 1'. %'Value'.0. %'Callback', {@plot_callback,1});
%
% % Create a text label to say what the checkboxes do
% uicontrol('Style'.'text'. %'Units'.'normalized'. %'Position'[025. 955. .06 035.],...
% 'String'.'Plot'. %'FontWeight'.'bold');
Copy the codeThird, the operation result
Fourth, note
Version: 2014 a