改进A^(*)与动态窗口算法的移动机器人路径规划

Path Planning of Mobile Robot Based on Improved A^(*)and Dynamic Window Algorithm

针对移动机器人存在的多个目标位置进行点对点路径规划的问题,对传统的A^(*)算法进行了改进,同时结合模拟退火算法来对多个目标位置实现全局最优的路径规划。进一步针对移动机器人的避障问题,结合多目标规划算法对动态窗口算法进行改进,在完成实时动态路径规划的同时避免未知障碍物占据全局路径,实现局部避障的功能。仿真结果表明,提出的改进算法能够有效地缩短路径距离,实现障碍物的实时避障,证明了改进方法具有较高的实用性。

Aiming at the problem of point-to-point path planning for multiple target locations of mobile robots,the traditional A^(*)algorithm was improved,and the simulated annealing algorithm was combined to achieve global optimal path planning for multiple target locations.Further,aiming at the obstacle avoidance problem of mobile robots,the dynamic window algorithm was improved by combining the multi-objective planning algorithm,so as to avoid unknown obstacles occupying the global path while completing the real-time dynamic path planning,and realized the local obstacle avoidance function.The simulation experiment results show that the improved algorithm can effectively shorten the path distance and realize the real-time obstacle avoidance,which proves that the method has high practicability.