Path Planning Based on Improved A* and Dynamic Window Approach
In response to the low efficiency,redundant turning points,and collision issues of the traditional A* algorithm,a smart vehicle path planning algorithm that integrates an improved A* algorithm with a dynamic window approach has been proposed.The algorithm has enhanced the search point selection method,optimized the evaluation function,selected key turning points based on the slope values between turning points,and removed redundant turning points.Between every two optimized key turning points,a dynamic window approach that balances speed and safety is used for local obstacle avoidance.Experiments show that compared to the traditional A* algorithm,this algorithm has increased retrieval speed by 45％,reduced turning points by 91％,and improved path smoothness.The integrated algorithm can achieve local optimality while ensuring global path optimality and can achieve real-time obstacle avoidance.
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