基于改进A^(*)与改进DWA的组合路径规划算法

Combined Path Planning Algorithm Based on the Improved A^(*)and the Improved DWA

在地面移动机器人路径规划算法中,针对传统A^(*)算法存在的边缘摩擦、边缘碰撞和路径不平滑等问题,采用改进的A^(*)算法,即引入势力场对其进行处理,再采用三阶曲线平滑路径,通过仿真实验验证,改进后的A^(*)算法路径更平滑、路径更短,明显改善了边缘摩擦或碰撞的问题。针对传统的DWA算法容易陷入局部最优的问题,通过引入曲率约束评价函数对算法改进,并且经过仿真实验,改进后的DWA算法明显得到了改善,而且规划的路径更加平滑,也避免出现陷入局部最优解的情况。提出改进A*与改进DWA的组合路径规划算法,实现机器人的自主导航。

In the path planning algorithm of the ground mobile robot,in order to solve the problems of the edge friction,the edge collision and the path unsmoothness of the traditional A^(*)algorithm,the improved A^(*)algorithm is adopted,that is,the force field is introduced to deal with it,and the third order Bezier curve is adopted to smooth the path The simulation experiment vernifies that the improved A^(*)algorithm has smoother and shorter paths,significantly improving the edge friction or the cllision problems.For the problem that the traditional DWA algorithm is easy to suffer from the local optimal solution,the curvature constraint evaluation function is introduced to improve the algoithm After the simulation experiment,the improved DWA algoithm is obviously improved,and the planned path is smoother,avoiding suffering from the local optimal solution Finally,the combined path planning algorithm based on the improved A^(*)and the improved DWA is proposed to realize the autononous navigation of the robot.