关键词: 移动机器人, A*算法, DWA, 实时避障

Abstract: Aiming at the path planning requirements of mobile robot to achieve global optimal path in complex environment and dynamic and real-time obstacle avoidance in unknown environment, the traditional A* (A-star) algorithm is improved, and Dynamic Window Approach (DWA) is integrated to achieve dynamic and real-time obstacle avoidance. Firstly, the obstacle proportion in the grid environment is analyzed. The obstacle proportion is introduced into the traditional A* algorithm to optimize the heuristic function h(n), so as to improve the evaluation function f(n) and improve its search efficiency in different environments. Secondly, in view of the intersection between the trajectory and the vertex of obstacles optimized by the traditional A* algorithm in the complex grid environment, the selection method of child nodes is optimized, and the redundant nodes in the path are deleted to improve the smoothness of the path. Finally, Dynamic Window Approach is integrated to realize dynamic and real-time obstacle avoidance of mobile robot in complex environment. The comparative simulation experiments under MATLAB show that the improved algorithm is optimized in the path length, path smoothness and elapsed time, meets the global optimal and can realize dynamic and real-time obstacle avoidance, and has better path planning effect.

Key words: mobile robot, A* algorithm, DWA, real-time obstacle avoidance