Dynamic Obstacle Avoidance Research for Mobile Robots Incorporating Improved A-Star Algorithm and DWA Algorithm

摘要

Aiming at the traditional A-star algorithm path search time is longer, more turning points, and the search path is not safe and smooth enough. A new path planning method incorporating the improved A-star algorithm and DWA algorithm is proposed to solve the path planning problem of localized dynamic obstacle avoidance for mobile robots. On the basis of analyzing the principle, advantages and disadvantages of traditional A-star algorithm path planning, we improve the operation efficiency of the algorithm by reducing the search direction of traditional A-star algorithm and deleting the redundant nodes in the middle. And introduce the DWA algorithm to realize dynamic obstacle avoidance of the robot. The experimental results show that the fused algorithm can plan a reasonable and smooth running path in the region where dynamic obstacles exist. It also has better obstacle avoidance effect while ensuring the safety of the robot.