Journal of System Simulation
Abstract
Abstract: In response to the low efficiency, redundant turning points, and collision issues of the traditional A* algorithm, a smart vehicle path planning algorithm that integrates an improved A* algorithm with a dynamic window approach has been proposed. The algorithm has enhanced the search point selection method, optimized the evaluation function, selected key turning points based on the slope values between turning points, and removed redundant turning points. Between every two optimized key turning points, a dynamic window approach that balances speed and safety is used for local obstacle avoidance. Experiments show that compared to the traditional A* algorithm, this algorithm has increased retrieval speed by 45%, reduced turning points by 91%, and improved path smoothness. The integrated algorithm can achieve local optimality while ensuring global path optimality and can achieve real-time obstacle avoidance.
Recommended Citation
Ji, Peng; Zhang, Xinyuan; Gao, Shuaixuan; and Wei, Shuorang
(2024)
"Path Planning Based on Improved A* and Dynamic Window Approach,"
Journal of System Simulation: Vol. 36:
Iss.
9, Article 17.
DOI: 10.16182/j.issn1004731x.joss.23-0619
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol36/iss9/17
First Page
2171
Last Page
2180
CLC
TP242.6
Recommended Citation
Ji Peng, Zhang Xinyuan, Gao Shuaixuan, et al. Path Planning Based on Improved A* and Dynamic Window Approach[J]. Journal of System Simulation, 2024, 36(9): 2171-2180.
DOI
10.16182/j.issn1004731x.joss.23-0619
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