基于A*和动态窗口法的移动机器人路径规划
Path Planning Based on A*and Dynamic Windows Approach for Mobile Robot
王佳军 1孟令军 1薛志凌 1李晓宇1
作者信息
- 1. 中北大学仪器与电子学院 太原 030000
- 折叠
摘要
机器人路径规划必须满足路径最优、轨迹平滑、避障等要求.提出将A*算法与动态窗口法(DWA)进行融合,得到一种改进型规划算法.首先,根据A*算法得到全局最优路径点,去除冗余无用节点.然后,结合基于改进的动态窗口法,构建融合全局信息的评价函数对局部路径进行优化.实验结果表明,融合算法很好地解决了传统动态窗口法陷入局部最优问题,得到一条平滑曲线,提高路径的安全性.
Abstract
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.
关键词
路径规划/移动机器人/动态窗口法/A*算法Key words
path planning/mobile robot/dynamic window approach/A*algorithm引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据