Study of Robot Path Planning with Improved A* And DWA Algorithm Fusion

Abstract

For some problems of the traditional A* algorithm in robot path planning, such as inefficient search, many and complex inflection points in the designed and realized paths, as well as the inability to complete real-time dynamic path planning for obstacle avoidance, this paper proposes an improved A algorithm and combines it with Floyd for path rounding, and finally with DWA (Dynamic Window Approach) algorithm to be Fusion. In the improved A* algorithm, a carefully normalized random obstacle environment is used and the search process is optimized by reducing the search direction and redundant nodes. Meanwhile, the evaluation function is adjusted to achieve the optimal global design solution, and path optimization and obstacle avoidance are performed by the DWA algorithm. The experimental results finally show that when the robot is in a complex environment, the fusion algorithm can ensure the completion of the globally optimal route while avoiding obstacles in a timely and effective manner, which realizes more efficient path planning.