In complex environment,targeting at the problems of low search efficiency and unsmooth path when using traditional A*al-gorithm alone for global path planning,an improved A*and DWA fusion algorithm is proposed to achieve more accurate and efficient path planning.Firstly,for the traditional A*algorithm,the cost function is optimized,the path selection strategy is improved,the search time is reduced,and the search path is shortened and smoothed.Secondly,the improved A*and DWA algorithms are fused to achieve obstacle avoidance and improve the smoothness of the path.Finally,a model of the orchard robot is built for comparing improved A*and DWA fusion algorithm with the single improved A*algorithm and the improved A*and TEB fusion algorithm in a simulated or-chard environment.The experiment shows that the improved A*and DWA fusion algorithm can significantly improve the search effi-ciency and achieve path smoothing,which is more in line with the path planning requirements of the orchard robot.
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