Abstract: Aiming at the problems of the traditional dynamic window approach（DWA） algorithm in the dense obstacle environment， such as easy to bypass the obstacle area and poor obstacle avoidance， an improved DWA algorithm based on A* is proposed. Firstly， the offset cost is introduced into the evaluation function of A* algorithm to guide the algorithm to search in the target direction quickly， so as to improve the problem of low planning efficiency， and the global optimal waypoint is obtained by optimizing the waypoint. Secondly， the weights of the evaluation function are dynamically adjusted by the orientation and distance of obstacles in the DWA algorithm to solve the problem of poor obstacle avoidance in the dense obstacle environment. Finally， the global optimal waypoint is incorporated to ensure that the improved DWA algorithm can achieve real-time obstacle avoidance and ensure the optimal path. The simulation results show that compared with the other two algorithms， the improved DWA algorithm can effectively improve the robot’s obstacle avoidance in the dense obstacle environment， the path length and the number of steps can be decreased by more than 15%， and can effectively avoid random obstacles， with higher security and stronger robustness.

Key words: dense obstacle environment, obstacle avoidance, DWA algorithm, fuzzy logic system, path planning