Path Planning Based on A*and Dynamic Windows Approach for Mobile Robot
The robot path must be the optimal path,smooth curve,and safe.A new improved programming algorithm is pro-posed by combining A*algorithm with dynamic window approach(DWA).Firstly,the global optimal path points are obtained with-out redundant useless nodes according to A*algorithm.Then,combined with the improved dynamic window method,the evaluation function integrating global information is constructed to optimize the local path.According to the simulation results,the fusion algo-rithm can solve the problem of local optimal to traditional dynamic windows approach,get a smoothing curve and greatly improve the security of the path.
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