Journal of System Simulation
Abstract
Abstract: Aiming at the problems that the traditional A* algorithm has too many extension nodes and path turning points, and can't deal with dynamic obstacles in complex environment, a robot obstacle avoidance method combining improved A* algorithm and DWA algorithm is proposed. The A* algorithm improves the neighborhood expansion method and effectively avoids the problem of redundant nodes in the classical four-neighborhood expansion and the path through the obstacle in the eight-neighborhood expansion. A quadrant selection method is proposed, which can effectively reduce the number of extended nodes in the path search process. The redundant point elimination strategy is proposed to eliminate the redundant nodes in the path, and the DWA algorithm is used to carry out local path planning between each two adjacent nodes to ensure the dynamic obstacle avoidance based on the global optimal path. The experimental results show the feasibility of the algorithm in robot path planning.
Recommended Citation
Zhang, Yan; Li, Binghua; Huo, Tao; and Liu, Rong
(2025)
"Research on Robot Dynamic Obstacle Avoidance Method Based on Improved A* and Dynamic Window Algorithm,"
Journal of System Simulation: Vol. 37:
Iss.
6, Article 19.
DOI: 10.16182/j.issn1004731x.joss.24-0143
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol37/iss6/19
First Page
1555
Last Page
1564
CLC
TP242.6
Recommended Citation
Zhang Yan, Li Binghua, Huo Tao, et al. Research on Robot Dynamic Obstacle Avoidance Method Based on Improved A* and Dynamic Window Algorithm[J]. Journal of System Simulation, 2025, 37(6): 1555-1564.
DOI
10.16182/j.issn1004731x.joss.24-0143
Included in
Artificial Intelligence and Robotics Commons, Computer Engineering Commons, Numerical Analysis and Scientific Computing Commons, Operations Research, Systems Engineering and Industrial Engineering Commons, Systems Science Commons