Mobile robot path planning based on optimized A* and dynamic window approach

被引：0

作者：

Wang B. ^{[1
]}

Nie J. ^{[1
]}

Li H. ^{[1
]}

Xie X. ^{[2
]}

Yan H. ^{[1
]}

机构：

[1] School of Mcchatronics Engineering, Zhongyuan University of Technology, Zhengzhou

[2] College of Agricultural Equipment Fxiginccring, Hcnan University of Science and Technology, Luoyang

来源：

Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2024年 / 30卷 / 04期

基金：

中国国家自然科学基金;

关键词：

A* algorithm; algorithm; algorithm fusion; dynamic window approach; mobile robot; path planning;

D O I：

10.13196/j.cims.2021.0674

中图分类号：

学科分类号：

摘要：

To solve the problems of traditional A*algorithm and dynamic window approach in mobile robot path planning, the optimization schemes of two algorithms and fusion scheme of optimization algorithms were proposed. To solve the problem of strong route symmetry and many redundant points in traditional A*algorithm, parent node information was introduced to reconstruct cost function that could dynamically adjust heuristic function weight, and a key point extraction strategy was designed. To solve the problem of lengthy route in traditional dynamic window approach, the obstacle distance evaluation sub-function was improved, and a self-adaptive-environment improvement strategy of dynamic window approach was proposed. Aiming at the problem of unrcachablc-targct-point and low security about improved DWA algorithm and optimized A* algorithm, the optimized A* algorithm and improved dynamic window approach were combined, and a new global path evaluation sub-function was designed. Finally, simulation and experiment results showed that the fusion algorithm had greatly improved in planning efficiency, safety and path smoothness, and more aligned with motion characteristics of mobile robots. © 2024 CIMS. All rights reserved.

引用

页码：1353 / 1363

页数：10

共 20 条

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