Multi-constraint enhanced dynamic window approach for robust and smooth local navigation

Authors

  • Yi Tang Belarusian State University of Informatics and Radioelectronics, 6 P. Browki Street, Minsk 220013, Belarus
  • Dmitry Yu. Pertsau Belarusian State University of Informatics and Radioelectronics, 6 P. Browki Street, Minsk 220013, Belarus
  • Dziana V. Kupriyanava Belarusian State University of Informatics and Radioelectronics, 6 P. Browki Street, Minsk 220013, Belarus

Keywords:

dynamic window approach, local path planning, multi-constraint optimisation, global-local coordination, trajectory smoothness, autonomous obstacle avoidance

Abstract

The limitations of the traditional dynamic window approach in local path planning, including poor trajectory smoothness, unstable control performance and insufficient global navigation guidance, are examined. An improved multi-constraint dynamic window approach is proposed as a solution. This method enhances the trajectory evaluation by introducing several refined constraint metrics: dual-angle heading deviation, global path adherence, curvature variation control and jerk suppression. They are integrated into a unified multi-objective scoring function that promotes smoother, more reasonable and dynamically feasible trajectory generation. To verify the effectiveness of the proposed approach, a series of experiments is conducted across various representative map scenarios, including both standard and complex environments. The enhanced algorithm is compared with the classical dynamic window approach and several of its improved variants. It is established that the proposed approach achieves superior performance in terms of path quality, safety and overall planning robustness, demonstrating improved adaptability and reliability in solving complex navigation tasks.

Author Biographies

  • Yi Tang, Belarusian State University of Informatics and Radioelectronics, 6 P. Browki Street, Minsk 220013, Belarus

    postgraduate student at the department of information technologies in automated systems, faculty of information technology and control

  • Dmitry Yu. Pertsau, Belarusian State University of Informatics and Radioelectronics, 6 P. Browki Street, Minsk 220013, Belarus

    PhD (engineering), docent; associate pro­fessor at the department of electronic computer machines, faculty of computer systems and networks

  • Dziana V. Kupriyanava, Belarusian State University of Informatics and Radioelectronics, 6 P. Browki Street, Minsk 220013, Belarus

    senior lecturer at the department of electronic computer machines, faculty of computer systems and net­works

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Published

2026-09-25

Issue

No. 2 (2026): Journal of the Belarusian State University. Mathematics and Informatics

Section

Theoretical Foundations of Computer Science

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Copyright (c) 2026 Journal of the Belarusian State University. Mathematics and Informatics

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How to Cite

[1]
Tang, Y. et al. 2026. Multi-constraint enhanced dynamic window approach for robust and smooth local navigation. Journal of the Belarusian State University. Mathematics and Informatics. 2 (Sep. 2026), 110–121.