Robot Path Planning by Using Improved A* Algorithm and Dynamic Window Method

Abstract

With the market for automated robots expanding, path planning in automated robots has become an important research topic. In this paper, a hybrid algorithm based on the improved A* algorithm and dynamic window method is presented to meet the needs of global optimal and real-time barrier avoidance. The computational model of the proposed algorithm is as follows. First, the traditional A* algorithm is improved; the improved A* algorithm can determine a globally optimal path for the robot. Second, the local path planning algorithm based on the dynamic window method can circumvent obstacles that appear in the robot's travel path in real time, effectively resolving the problem encountered in traditional robot path planning wherein obstacles cannot be avoided dynamically. The experimental results show that the combination of the A* algorithm and dynamic window method can improve the path planning of robots in complex dynamic environments.