A Study of Mobile Robot Path Planning by Fusing Improved A* And DWA Algorithms

Abstract

The traditional A * algorithm has the shortcomings of low search efficiency, node redundancy, and intersection of trajectory with obstacle vertices. For performing dynamic obstacle avoidance of mobile robots in challenging environments, a fused version of the dynamic window technique (DWA) and an enhanced A * algorithm are presented. The comparison simulation experiments under MATLAB show that the improved A * algorithm optimizes the trajectory length, trajectory smoothness, and search time, satisfies the global optimum and can achieve real-time obstacle avoidance, with a better path planning effect.