现代防御技术2026，Vol.54Issue(1)：14-29,16.DOI:10.3969/j.issn.1009-086x.2026.01.002
面向无人机路径规划的A*-DWA分层融合算法
Research on UAV Path Planning Based on an Improved A*-DWA Hierarchical Fusion Algorithm
摘要
Abstract
To address the issues of low search efficiency,poor path smoothness,and limited local obstacle avoidance in traditional A* algorithms within complex 3D environments,this paper proposed a hierarchical fusion algorithm combining A* and DWA.The algorithm first extended the A*algorithm into 3D space using a 26-neighbor node search strategy.It introduced a dynamic adjustment term into the cost evaluation function to achieve adaptive weighting,and employed the Douglas-Peucker algorithm combined with cubic B-spline curves to smooth paths.Second,it integrated a 3D-extended DWA algorithm to compensate for A*'s local obstacle avoidance limitations.A 3D dynamic window model was constructed via kinematic decoupling,and a cosine similarity measure was introduced to enhance the evaluation function,thereby improving real-time obstacle avoidance performance.Finally,a dynamic feedback mechanism was designed to enable adaptive correction of the global path,forming a closed-loop optimization system:"A* global planning-DWA local obstacle avoidance-Dynamic feedback."Simulation results demonstrated that in both static and dynamic 3D environments,the A*-DWA hierarchical fusion algorithm significantly outperformed other comparison algorithms in path length,planning time,and path smoothness.Obstacle avoidance success rates exceeded 90%across multiple scenarios,validating the effectiveness of the A*-DWA hierarchical fusion algorithm.关键词
A*算法/无人机/路径规划/DWA算法/B样条曲线/分层融合Key words
A* algorithm/unmanned aerial vehicle(UAV)/path planning/dynamic window approach(DWA)algorithm/B-spline curve/hierarchical fusion分类
航空航天引用本文复制引用
常绪成,张心慧,党帅龙,朱锋,王敬宇,徐高涵..面向无人机路径规划的A*-DWA分层融合算法[J].现代防御技术,2026,54(1):14-29,16.基金项目
中国高校产学研创新基金(2024ZY019) （2024ZY019）
河南省校企协同创新项目(26AXQXT109) （26AXQXT109）
郑州航空工业管理学院研究生教育创新计划基金(2025CX141) （2025CX141）
航空科学基金(20200001055001) （20200001055001）
河南省自然科学基金面上项目(252300421888)、河南省科技攻关计划(252102220056,252102240106)、河南省高等学校重点科研项目(26B590002)、郑州航院科研团队(24ZHTD01003). （252300421888）
