计算机工程与应用2024，Vol.60Issue(15)：327-335,9.DOI:10.3778/j.issn.1002-8331.2310-0140
改进A*与DWA的室内服务机器人路径规划研究
Research on Indoor Service Robot Path Planning Based on Improved A* and DWA
摘要
Abstract
Considering that global planning cannot avoid dynamic obstacles and local planning may fall into local optima,a path planning algorithm based on the fusion of improved A* and DWA(dynamic window approach)using service robots is proposed.To address the drawback of slow search speed in traditional A* algorithm,the evaluation function has been optimized.Based on the motion model of the differential robot,the search neighborhood is optimized.To address the shortcomings of traditional A* algorithm with multiple broken line segments in the path,a new obstacle avoidance strategy is introduced to optimize the path with broken lines and smooth the curve.To address the shortcomings of global and local planning,the improved A* algorithm and DWA algorithm are integrated,and dynamic planning algorithms are segmented based on key nodes of the global path to ensure real-time obstacle avoidance for robots.Simulation experiments have shown that the improved A* algorithm performs better,with key nodes reduced by 75％,turning times reduced by 80％,path length reduced by 5.9％,and search time reduced by 46％.Compared to a single static algorithm,the fusion algo-rithm can smoothly reach the endpoint through random obstacles.关键词
服务机器人/路径规划/A*算法/DWA算法/算法融合Key words
service robots/path planning/A* algorithm/dynamic window approach(DWA)algorithm/algorithm fusion分类
信息技术与安全科学引用本文复制引用
姜佩贺,王敬,桑忠启,林立峰..改进A*与DWA的室内服务机器人路径规划研究[J].计算机工程与应用,2024,60(15):327-335,9.基金项目
山东省自然科学基金联合基金项目(ZR2019LZH016). （ZR2019LZH016）
