改进A^(*)和动态窗口法的移动机器人路径规划

Path planning based on improved A^(*)and dynamic window approach for mobile robot

为解决传统A^(*)算法和动态窗口法在路径规划中存在的问题,提出一种结合A^(*)算法和动态窗口法的移动机器人路径规划融合算法。采用A^(*)算法规划出一条全局路径,采用一种关键折点提取算法剔除全局路径上的冗余拐点和冗余节点,以保证路径全局最优;根据关键节点将全局路径分段,再结合动态窗口法对每段局部路径进行优化,以提高路径的安全性和平滑性。仿真实验验证,融合算法实现了对路径长度、平滑性和安全性的优化,而且能在实际环境中高效率地完成路径规划。

To solve the inherited problems of A^(*)algorithm and dynamic window approach in path planning,an improved fusion algorithm of mobile robot path planning by combining A^(*)algorithm with dynamic window approach was proposed.A^(*)algorithm was used to plan the global path for the mobile robot.A key node extraction strategy was designed to optimize the global path by eliminating its inflection points and redundant nodes.According to key nodes,an improved dynamic window approach was adapted to cooperate with A^(*)algorithm for optimizing each local path.Simulation results showed the improvement of the fusion algorithm in path length,smoothness and safety,and the high efficiency in the path planning of practical scenario.