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Journal of System Simulation

Abstract

Abstract: The traditional A* algorithm is computationally simple and has short planning paths, but it still suffers from redundancy of inflection points, low search efficiency and zigzagging planning paths. Aiming at the above problems, a fusion algorithm combining the improved A* algorithm and the improved dynamic window approach is proposed for the path planning of mobile robots. For the problem of redundant inflection points, the key nodes are extracted to effectively remove the useless inflection points; for the problem of low search efficiency, a dynamic weighting factor is introduced into the heuristic function of the evaluation function, which changes the search neighborhood and reduces the search nodes to improve the operation efficiency of the algorithm; for the problem of zigzagging of the planning paths, the paths are optimized using the improved dynamic window approach, which improves the smoothness of the paths. Through Matlab simulation and comparison experiments, the fusion algorithm is proved to be advantageous in global path optimization, effectively reducing the number of redundant nodes in the path and shortening the path length. In addition, the proposed fusion algorithm can increase the robot path smoothness and motion stability.

First Page

1884

Last Page

1894

CLC

TP242

Recommended Citation

Lai Rongshen, Dou Lei, Wu Zhiyong, et al. Fusion of Improved A* and Dynamic Window Approach for Mobile Robot Path Planning[J]. Journal of System Simulation, 2024, 36(8): 1884-1894.

DOI

10.16182/j.issn1004731x.joss.24-0233

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