融合距离引导式A*算法与动态窗口法的移动机器人路径规划
Path Planning for Mobile Robots by Integrating Distance-Guided A*Algorithm and Dynamic Window Approach
黄昱航 1李国刚 1焦启 1曹冬平1
作者信息
- 1. 华侨大学信息科学与工程学院,福建厦门 361021;华侨大学厦门市专用集成电路系统重点实验室,福建厦门 361021
- 折叠
摘要
为解决移动机器人路径规划中效率低下等问题,提出一种距离引导式A*算法与动态窗口法的融合算法.在改进A*算法中,引入双向搜索策略,采用综合距离启发函数,利用全局路径筛选策略对路径进行优化.在得到全局最优路径的基础上,与动态窗口法结合,实现移动机器人的动态避障.结果表明:距离引导式A*算法和文中融合算法在路径长度、遍历节点数目和运行时间方面实现了显著提升,能更好地满足移动机器人对路径规划的要求.
Abstract
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.
关键词
移动机器人/路径规划/A*算法/动态窗口法/动态避障Key words
mobile robot/path planning/A*algorithm/dynamic window approach/dynamic obstacle avoid-ance引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据