Advancing Autonomous Mobile Robots with the Dynamic Window Approach: An Exploration of Integrated Simulation for Enhanced Performance

This paper introduced a novel approach for obstacle avoidance and path finding named Dynamic Angle Approach (DAA). Our system combined the DAA, fuzzy logic, and data filtering techniques to achieve real-time obstacle avoidance and target tracking in unknown and complex environments. The system utilizes LiDAR and camera sensors to collect data, which is then processed through fuzzy logic to generate a safety analysis of the current environment for effective decision making. The DAA generates a mobile direction angle, which is used to safely perform a series of path planning tasks. To validate the system's performance in dynamic and unpredictable environments, relevant experiments are designed and conducted.