现代制造工程Issue(2)：30-34,65,6.DOI:10.16731/j.cnki.1671-3133.2026.02.004
基于改进A*-DWA算法的移动机器人避障技术
Obstacle avoidance technology of mobile robot based on improved A*-DWA algorithm
摘要
Abstract
To solve the problems of the traditional A* algorithm in practical application,such as insufficient dynamics,low obsta-cle avoidance efficiency and long running time,a method combining kinematically constrained A* algorithm with Dynamic Window Approach(DWA)was proposed.Firstly,considering the robot kinematics,the node extension method and heuristic func-tion model of A* algorithm were improved to improve the search efficiency and reduce the number of path turns,so that the path generated by A* algorithm can better meet the requirements of robot motion.Secondly,the path evaluation function of DWA algo-rithm was optimized to make the local path planned by DWA algorithm more smooth and coherent,which is more conducive to ro-bot motion execution.Finally,key nodes were extracted from the global path planned by A* algorithm to guide DWA algorithm to local planning and dynamic obstacle avoidance.Simulation results show that compared with other algorithms,improved A*-DWA algorithm can save up to 45.09％of planning time and reduce the driving distance by up to 13.49％.Experiments show the ef-fectiveness of improved A*-DWA algorithm.关键词
A*算法/动态窗口法/机器人/避障/运动学约束/路径评价Key words
A* algorithm/Dynamic Window Approach(DWA)/robot/obstacle avoidance/kinematically constrain/path evaluation分类
信息技术与安全科学引用本文复制引用
余风军,周晓平..基于改进A*-DWA算法的移动机器人避障技术[J].现代制造工程,2026,(2):30-34,65,6.基金项目
2023年度河南省科技攻关项目(232102210141) （232102210141）
