天津职业技术师范大学学报

针对动态窗口法在动态障碍物环境下避障效果差、路径非最优等问题，将改进间隙跟踪法（improved follow the gap method,IFGM）与改进动态窗口法（improved dynamic window approach,IDWA）进行融合。改进间隙跟踪法的效用函数考虑障碍物间的间隙大小和智能小车与目标坐标的夹角来寻找可行间隙及合理的航向角；在DWA原有评价函数中引入动态避障函数，使智能小车在面对多个动态障碍物时能灵敏地控制速度，以达到敏捷避障目的。实验结果表明：与传统DWA算法相比，IFGM-IDWA融合算法减少了15%～25%的碰撞率，能够更加灵活地控制智能小车的平移速度和旋转速度，更加有效地保证智能小车运动过程中的安全性，且减少了时间消耗，提高了运动效率。

Aiming at the problems such as poor obstacle avoidance performance and suboptimal path planning, this study proposes a fusion of Improved Follow the Gap Method(IFGM) and Improved Dynamic Window Approach(IDWA). Firstly,the utility function of follow the gap method is improved, and the feasible gap and reasonable heading Angle are located by considering the gap between obstacles and the angle between the intelligent car and the target coordinates. Then, the dynamic obstacle avoidance function is introduced into the original evaluation function of Dynamic Window Approach(DWA), so that the intelligent car can control the speed sensitively when facing multiple dynamic obstacles, so as to achieve agile obstacle avoidance. Experiments show that compared with the traditional DWA algorithm, IFGM-IDWA fusion algorithm can reduce the collision avoidance rate by 15%～25%, and allow for more flexible control of the intelligent vehicle′s translational and rotational speeds, ensure the safety of the intelligent car in the process of motion more effectively, reduce time consumption, and improve the movement efficiency.