Abstract: Aiming at the difficulties—balance the performance indexes such as reachability and safety with time in unknown complex scene—faced by existing multi-robot system path planning methods， an improved DWA （dynamic window approach） algorithm based on two-layer fuzzy inference is proposed. First， the linear velocity fuzzy controller and the steering angle fuzzy controller output the base pose to ensure the flexibility and safety of the robot path-planning process. Then， comparing with the traditional DWA algorithm， the obstacle distance evaluation function is improved and the danger zone-related evaluation function is also incorporated to achieve multi-robot collision avoidance. Also， the robustness and global performance are improved by extending the evaluation function and the weight parameters. Finally， the two-layer fuzzy inference is fused with the improved DWA algorithm， so the two-layer fuzzy controller is used to determine the approximate speed and direction， based on which the precise speed and steering angle are output using the improved DWA. Simulation experiments show that the proposed algorithm generates smoother trajectories and improves the operational efficiency and safety of multi-robot path planning.

Key words: dynamic window approach, fuzzy control, multi-robot system, path planning