An Improved Dynamic Window Approach Integrated Global Path Planning Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation subfunction of direction, the evaluation subfunction of smoothing speed and the evaluation subfunction of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.

An Improved Local Dynamic Path Planning Algorithm for Autonomous Driving In this paper, an improved autonomous driving local dynamic path planning algorithm is proposed. Based on the predefined road center points, a set of path control points is constructed, and a onedimensional cubic equation is used to fit the path and construct a center line. A new curved coordinate system is provided using the center line, and the path candidates are generated by arc length and lateral offset. The overall path is selected in consideration of the total cost of path safety and comfort. The results showed that under different scenarios, the proposed local path planning algorithm can plan an optimal path that does not collide with static obstacles, and can ensure the comfort of autonomous driving vehicles and the realtime path planning.