Path Planning for Mobile Robots by Integrating Distance-Guided A*Algorithm and Dynamic Window Approach
To solve the problem of low efficiency in mobile robot path planning,a fusion algorithm combining a distance-guided A*algorithm with the dynamic window approach is proposed.In the improved A*algo-rithm,a bidirectional search strategy is introduced,and a comprehensive distance heuristic function is adopted,utilizing a global path filtering strategy to optimize the path.On the basis of obtaining the global optimal path,it is combined with the dynamic window approach to achieve dynamic obstacle avoidance for the mobile robot.The results show that the distance-guided A*algorithm and the proposed fusion algorithm achieve significant improvements in terms of path length,the number of traversed nodes,and running time,which better satisfies the requirements of mobile robot for path planning.
mobile robotpath planningA*algorithmdynamic window approachdynamic obstacle avoid-ance
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