A Fusion Approach for Mobile Robot Path Planning Based on Improved A* Algorithm and Adaptive Dynamic Window Approach

摘要

To solve the path planning problem of mobile robots in complex and dynamic environment, a dynamic path planning method is proposed in this paper. The dynamic path planning method is composed of the improved A* algorithm and the adaptive Dynamic Window Approach (DWA). By expanding the number of neighborhoods that can be explored, introducing a safety cost factor in the evaluation function, and optimizing the path point sequence, the safety and efficiency of the A* algorithm are improved. Based on the DWA algorithm, the weight of the evaluation function is adaptively adjusted to avoid being trapped in to a local optimal solution. To further improve the smoothness of the path and avoid obstacles in real time, the evaluation function with smoothing effect is constructed. The simulation results verify the effectiveness of the improved algorithm.