Research on Path Planning of Mobile Robot by Fusing A* and DWA Algorithms

摘要

The traditional A* algorithm has low search efficiency, many turning points in the planned path, and cannot achieve dynamic path planning when facing unknown obstacles in the environment. This article proposes a fusion algorithm that combines the A* algorithm with the Dynamic Window Approach (DWA) algorithm, which uses the DWA algorithm's dynamic window evaluation function to distinguish between known and unknown obstacles. The key points of the A* algorithm's planned path are extracted as temporary targets for the DWA algorithm, achieving the fusion of A* and DWA algorithms based on global optimality. The experimental results show that the fusion algorithm can ensure global optimality; and avoid unknown obstacles in the environment timely and effectively, achieving dynamic path planning.