Robot path planning by integrating improved A* algorithm and DWA algorithm

摘要

Abstract Traversing many nodes, low search efficiency, path slanting through obstacles, many path redundancy points, and the inability of dynamic real-time obstacle avoidance are all typical problems of A* algorithm. In this paper, A robot path planning method combining improved A* algorithm and DWA algorithm is proposed.The ratio of the distance between the current point and the starting point and the target point is introduced into the heuristic function, and the search efficiency is improved through the optimized heuristic function; the neighborhood search principle is simplified to 5-neighborhood search, and the nodes adjacent to obstacles are deleted to reduce the traversal nodes while avoiding diagonal penetration of obstacles; redundant node improvement method is used to reduce the degree of path transition; finally the path key points of the improved A* algorithm are extracted and DWA algorithm is fused to realize the robot to avoid unknown obstacles. Finally, experiments are carried out on Matlab to prove the feasibility of the new algorithm.