电子科技2026，Vol.39Issue(1)：64-72,96,10.DOI:10.16180/j.cnki.issn1007-7820.2026.01.009
融合改进A*与DWA算法的机器人路径规划
Integration of Improved A* and DWA Algorithms for Robot Path Planning
摘要
Abstract
In view of the problems of redundant expansion of nodes in the traditional A* algorithm,the path be-ing close to obstacles,as well as the trajectory oscillation and easy falling into local minima in the traditional DWA(Dynamic Window Approaches)algorithm,this study proposes a robot path planning method that integrates and im-proves the A* and DWA algorithms.The cost function of the traditional A* algorithm is improved to remove redundant expanded nodes.The selection strategy of child nodes is improved to avoid the path being close to obstacles,and un-necessary turning points are removed through bidirectional smoothness optimization.An adaptive distance factor is intro-duced into the evaluation function of the DWA algorithm to reduce the oscillation of the trajectory,and the discrete nodes of the prior path of the A*algorithm are taken as the local target points of the DWA algorithm for algorithm inte-gration.The simulation experiments show that the number of expanded nodes of the improved A* algorithm is reduced by 118,the planning time is reduced by 29.9％,and the planning speed of the improved DWA algorithm is increased by 5.3％.The proposed integrated algorithm can ensure the global optimality of the path,avoid falling into local mini-ma,and achieve real-time obstacle avoidance for unknown obstacles.关键词
机器人/路径规划/A*算法/DWA算法/启发函数/子节点选取/双向平滑度优化/距离因子Key words
robot/path planning/A* algorithm/DWA algorithm/heuristic function/selection of child nodes/bidi-rectional smoothness optimization/distance factor分类
信息技术与安全科学引用本文复制引用
谢德瀚,高金凤,贾国强,李乐宝,苏雯,梅从立..融合改进A*与DWA算法的机器人路径规划[J].电子科技,2026,39(1):64-72,96,10.基金项目
国家自然科学基金(62073296 （）
62006209) （）
浙江省自然科学基金(LQ23F030019) （LQ23F030019）
浙江理工大学科研业务费专项资金(24222091-Y)National Natural Science Foundation of China(62073296 （24222091-Y）
62006209) （）
Natural Science Foundation of Zhejiang(LQ23F030019) （LQ23F030019）
Fundamental Research Funds of Zhejiang Sci-Tech University(24222091-Y) （24222091-Y）
