Research on autonomous charging of robot based on fuzzy improved DWA algorithm

Yanchao Peng; Yongli Zhang; Guorong Yi; Wei Si; Xinqi Li

doi:10.1117/12.3004968

9 October 2023 Research on autonomous charging of robot based on fuzzy improved DWA algorithm

Yanchao Peng, Yongli Zhang, Guorong Yi, Wei Si, Xinqi Li

Proceedings Volume 12791, Third International Conference on Advanced Algorithms and Neural Networks (AANN 2023); 127910J (2023) https://doi.org/10.1117/12.3004968
Event: Third International Conference on Advanced Algorithms and Neural Networks (AANN 2023), 2023, Qingdao, SD, China

Abstract

The fuzzy improved DWA autonomous charging algorithm is proposed for the problems of high hardware cost, complex docking process and low docking efficiency of robot autonomous charging technology. A horizontal attitude adjustment function and a vertical attitude adjustment function have been added to the azimuth evaluation function of the traditional DWA algorithm. During the robot electrode docking process, the robot uses a fuzzy control algorithm to adjust the weight coefficients of the horizontal posture adjustment function and the weight coefficients of the vertical posture adjustment function according to the horizontal distance between itself and the charging pile, in order to control the robot's direct navigation to the charging pile.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yanchao Peng, Yongli Zhang, Guorong Yi, Wei Si, and Xinqi Li "Research on autonomous charging of robot based on fuzzy improved DWA algorithm", Proc. SPIE 12791, Third International Conference on Advanced Algorithms and Neural Networks (AANN 2023), 127910J (9 October 2023); https://doi.org/10.1117/12.3004968

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