融合改进安全A*算法和DWA算法的无人车路径规划研究OA北大核心CSTPCD

Aiming at the problem that the path planned of unmanned vehicle with traditional A*al-gorithm is close to the surrounding obstacles,and there are too many redundant nodes and turning points,a path planning method integrating improved safety A* algorithm with Dynamic Window(DWA)approach is proposed.Firstly,the search mechanism is improved and the evaluation function is opti-mized.Then,the concept of safety nodes is proposed to generate safe path,and the redundant nodes are removed.The dynamic window method is used to carry out local path planning between adjacent safety nodes,and finally,a better path suitable for random obstacle avoidance of unmanned vehicle is finally generated.The simulation results show that the improved safety A* algorithm can plan shorter paths with fewer turning points,and can effectively solve the path planning problem of unmanned vehicles in complex environment.