关键词: 智能车；DWA；局部路径规划；动态障碍物

Abstract: In this paper, an improved DWA algorithm is proposed to solve the shortcoming of the traditional dynamic window method (DWA), which only considers the static obstacles and the obstacles facing the intelligent vehicle. The algorithm considers dynamic obstacles, trajectory safety assessment and path smoothing and optimization to achieve more detailed local path planning. By improving the evaluation function and increasing the sampling range of speed, the trajectory score is optimized to enhance the ability of intelligent vehicle to search and avoid dynamic obstacles.Based on the MATLAB simulation platform, it is verified that the improved DWA algorithm can more efficiently and smoothly complete the local path planning in the dynamic obstacle environment.

Key words: Intelligent vehicle; DWA; Local path planning; Dynamic obstacles