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Volume 25
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10.3390/s25040992
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Article

Dynamic Obstacle Avoidance with Enhanced Social Force Model and DWA Algorithm Using SparkLink

by
Hang Yi
1,
Ruliang Lin
1,
Hao Wang
1,
Yifang Wang
1,
Cunchao Ying
2,
Dong Wang
2,* and
Lihang Feng
3,*
1
Beijing Aerospace Wanyuan Science and Technology Company Ltd., Beijing 100083, China
2
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
3
College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 210096, China
*
Authors to whom correspondence should be addressed.
Sensors 2025, 25(4), 992; https://doi.org/10.3390/s25040992
Submission received: 3 December 2024 / Revised: 6 January 2025 / Accepted: 3 February 2025 / Published: 7 February 2025
(This article belongs to the Section Physical Sensors)
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Abstract

In the context of Industry 4.0, addressing the challenge of dynamic obstacle avoidance for Automated Guided Vehicles (AGVs) in complex industrial environments, this paper proposes an algorithm that integrates an enhanced social force model (SFM) and an improved dynamic window approach (DWA), leveraging SparkLink communication technology to enhance data transmission speed and reliability. The introduction of SparkLink technology significantly improves the environmental perception capabilities of AGVs, optimizing their dynamic obstacle-avoidance performance. Experimental results demonstrate that this method effectively increases the efficiency of AGVs in dynamic obstacle avoidance, offering significant practical value.
Keywords: SparkLink; AGV; dynamic obstacle avoidance; social force model; dynamic window method SparkLink; AGV; dynamic obstacle avoidance; social force model; dynamic window method

Share and Cite

MDPI and ACS Style

Yi, H.; Lin, R.; Wang, H.; Wang, Y.; Ying, C.; Wang, D.; Feng, L. Dynamic Obstacle Avoidance with Enhanced Social Force Model and DWA Algorithm Using SparkLink. Sensors 2025, 25, 992. https://doi.org/10.3390/s25040992

AMA Style

Yi H, Lin R, Wang H, Wang Y, Ying C, Wang D, Feng L. Dynamic Obstacle Avoidance with Enhanced Social Force Model and DWA Algorithm Using SparkLink. Sensors. 2025; 25(4):992. https://doi.org/10.3390/s25040992

Chicago/Turabian Style

Yi, Hang, Ruliang Lin, Hao Wang, Yifang Wang, Cunchao Ying, Dong Wang, and Lihang Feng. 2025. "Dynamic Obstacle Avoidance with Enhanced Social Force Model and DWA Algorithm Using SparkLink" Sensors 25, no. 4: 992. https://doi.org/10.3390/s25040992

APA Style

Yi, H., Lin, R., Wang, H., Wang, Y., Ying, C., Wang, D., & Feng, L. (2025). Dynamic Obstacle Avoidance with Enhanced Social Force Model and DWA Algorithm Using SparkLink. Sensors, 25(4), 992. https://doi.org/10.3390/s25040992

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