现代电子技术2026，Vol.49Issue(13)：191-198,8.DOI:10.16652/j.issn.1004-373X.2026.13.027
改进A*与DWA的交通隔离机器人路径规划研究
Traffic isolation robot path planning based on improved A* and dynamic window approach
摘要
Abstract
In view of the prolonged search time and excessive hazardous points in paths when applying the traditional A*algorithm to traffic isolation robots,this study proposes a hybrid algorithm integrating improved A* with the dynamic window approach(DWA).Firstly,a four-neighborhood combined with left-right symmetric convex neighborhood search strategy is employed,along with an angular search strategy and the obstacle-distance-map weighting strategy(ODMW),to optimize redundant nodes in global paths.A bidirectional A* scheme is introduced to enhance search efficiency.Subsequently,the enhanced A* global path planning algorithm is integrated with DWA to improve real-time obstacle avoidance capabilities.Finally,simulations and physical experiments were conducted to evaluate the performance of the improved algorithm.The results demonstrate that the optimized A* algorithm significantly reduces hazardous points along paths,decreases average search time by 68.22%,and reduces average expanded nodes by 55.76%.Moreover,the hybrid algorithm combining improved A* with DWA enables traffic isolation robots to accurately reach targets while effectively avoiding unknown obstacles.关键词
交通隔离机器人/路径规划/改进A*算法/DWA算法/算法融合/动态避障Key words
traffic isolation robot/path planning/improved A* algorithm/DWA/algorithm fusion/dynamic obstacle avoidance分类
信息技术与安全科学引用本文复制引用
李靖,徐海黎,蔡嘉俊,马守权,张思维,邢强..改进A*与DWA的交通隔离机器人路径规划研究[J].现代电子技术,2026,49(13):191-198,8.基金项目
南通市自然科学基金(JC2023062) （JC2023062）
