Improve the Robot Path Planning Based on the Integration of A* and DWA

摘要

ABSTARCT: Aiming at the problems of poor search efficiency, unsmooth path and real-time obstacle avoidance of traditional A* algorithm, a robot path planning algorithm integrating improved A* algorithm and DWA algorithm is proposed. Firstly, the traditional two-way A* algorithm is used to optimize the evaluation function. Secondly, the search strategy is simplified to reduce the number of search nodes and improve the search efficiency. Then, the unnecessary inflection points on the optimal path are deleted through the redundant point elimination strategy for three times. Finally, the local planning between adjacent two points is combined with DWA algorithm to solve the problems of path unsmooth and real-time obstacle avoidance. The experimental results show that the improved A* algorithm has a great improvement in search efficiency compared with the traditional A* algorithm. By integrating DWA algorithm, the smoothness of the path can be increased and the real-time obstacle avoidance of unknown obstacles can be realized