现代电子技术2024，Vol.47Issue(20)：177-186,10.DOI:10.16652/j.issn.1004-373x.2024.20.028
改进A*和DWA的机器人路径规划研究
Research on robot path planning based on improved A* and DWA
摘要
Abstract
In allusion to the problems of low efficiency and poor environmental adaptability of mobile robot path planning in complex environment,a path planning algorithm combining improved A* algorithm and dynamic window approach(DWA)is proposed.In the global planning stage,adaptive weighting factor and the safety radius path evaluation function are used to optimize the redundant node and extract the key nodes,and the arc processing method is used to optimize the smoothness of the planned path.The DWA with improved safety distance evaluation subfunction is used for local planning,which can improve the obstacle avoidance performance of the mobile robot.The fusion algorithm is simulated and tested.The results show that the improved A* algorithm is optimized in both of path length and turning angle.After integrating the improved DWA,the mobile robot can find the shortest obstacle-free path in complex environments,dynamically avoid unknown obstacles,and safely reach the target position.These findings validate the effectiveness and practicality of the proposed algorithm.关键词
移动机器人/路径规划/A*算法/动态窗口法/自适应参数/安全距离/动态障碍物Key words
mobile robot/path planning/A* algorithm/dynamic window approach/adaptive parameter/safe distance/dynamic obstacle分类
信息技术与安全科学引用本文复制引用
马自勇,朱星光,马立东..改进A*和DWA的机器人路径规划研究[J].现代电子技术,2024,47(20):177-186,10.基金项目
国家自然科学基金面上项目(52274389) （52274389）
山西省重点研发计划项目(202102010101003) （202102010101003）
山西省重点研发计划项目(202202150401010) （202202150401010）
山西省科技合作交流专项项目(202104041101031) （202104041101031）
山西省留学人员科技活动择优资助项目(20220028) （20220028）
山西省省筹资助留学回国人员项目(2022-160) （2022-160）
