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The dynamic window approach used in the research of the robot local path planning problem involves a mixture of fixed weight coefficients, which makes it hard to deal with the changing dynamic environment and the issue of the sub-optimal global planning paths that arise after local obstacle avoidance. By dynamically modifying the combination of weight coefficients, we propose, in this research, the use of fuzzy control logic to optimize the evaluation function\u2019s sub-functions and enhance the algorithm\u2019s performance through the safe and dynamic avoidance of obstacles. The global path is introduced to enhance the dynamic window technique\u2019s ability to plan globally, and important points on the global path are selected as key sub-target sites for the local motion planning phase of the dynamic window technique. The motion position changes after local obstacle avoidance to keep the mobile robot on the intended global path. According to the simulation results, the enhanced dynamic window algorithm cuts planning time and path length by 16% and 5%, respectively, while maintaining good obstacle avoidance and considering a better global path in the face of various dynamic environments. It is difficult to achieve a local optimum using this algorithm.<\/jats:p>","DOI":"10.3390\/s23198260","type":"journal-article","created":{"date-parts":[[2023,10,6]],"date-time":"2023-10-06T01:07:13Z","timestamp":1696554433000},"page":"8260","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm"],"prefix":"10.3390","volume":"23","author":[{"given":"Ying","family":"Sun","sequence":"first","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenlu","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China"},{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Manman","family":"Xu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5702-2321","authenticated-orcid":false,"given":"Li","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430081, China"},{"name":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System, Wuhan University of Science and Technology, Wuhan 430081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kangjing","family":"Shi","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China"},{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chunlong","family":"Zou","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Hubei University of Automotive Technology, Shiyan 442002, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baojia","family":"Chen","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang 443005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"5757719","DOI":"10.1155\/2022\/5757719","article-title":"Path Planning of Storage and Logistics Mobile Robot Based on ACA-E Algorithm","volume":"2022","author":"Zhao","year":"2022","journal-title":"J. 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