高技术通讯2026，Vol.36Issue(2)：123-136,14.DOI:10.3772/j.issn.1002-0470.2026.02.002
基于改进A*算法和动态窗口法的移动机器人路径规划
Path planning of mobile robot based on improved A* algorithm and dynamic window approach algorithm
摘要
Abstract
In large scenarios,a hybrid path planning method based on the fusion of the improved A* algorithm and the dynamic window approach(DWA)is proposed in response to the problems of the traditional A* algorithm,such as the large memory overhead,the long search time,and the ease of DWA to fall into the local optimum,and the final path found is not a globally optimal path.Firstly,the 24-neighbourhood expansion of the traditional A* algorithm is reduced to 10-neighbourhood expansion.Secondly,a synchronous bidirectional search strategy is introduced,and based on this,a synchronous direct connection method is proposed to check whether there is an obstacle be-tween two current dynamically defined target nodes,and if there is no obstacle,the final path is generated directly.Then,the critical path points extracted from the global path generated by the improved A* algorithm are used as the local target points of DWA,and the evaluation function of DWA is improved.Finally,the results of simulation and experiment show that compared with the traditional A* algorithm,the improved A* algorithm effectively re-duces the number of traversed nodes by 51.42%and the search time by 63.32%;and the improved DWA can per-fectly avoid concave obstacles and find the globally optimal path.关键词
移动机器人/路径规划/改进A*算法/改进动态窗口法/栅格地图Key words
mobile robot/path planning/improved A* algorithm/improved dynamic window approach/grid map引用本文复制引用
王军晓,黄美琴,冯建涵,汪显博..基于改进A*算法和动态窗口法的移动机器人路径规划[J].高技术通讯,2026,36(2):123-136,14.基金项目
国家自然科学基金(62273306)资助项目. （62273306）
