摘要
针对复杂环境下移动机器人出现的路径规划问题,为满足全局最优和实时避障的需要,提出了一种基于改进A^*和动态窗口法(DWA)的混合算法。该算法由两部分组成:①对传统A^*算法进行改进,改进后的A^*算法能够为机器人寻得一条全局最优路径;②基于DWA的局部路径规划算法,可以实时规避机器人行进过程中突然出现的障碍物,有效地改善了传统机器人路径规划无法动态避障的问题。实验结果表明,将改进A^*算法和DWA进行融合可有效改善机器人在复杂动态环境中的路径规划问题。
Aiming at the path planning problem of mobile robots in complex environment,a hybrid algorithm based on improved A~*and dynamic window method(DWA) is proposed to meet the needs of global optimization and realtime obstacle avoidance.The algorithm consists of two parts: ①The traditional A~*algorithm is improved,and the improved A~*algorithm can find A global optimal path for the robot;②Local path planning algorithm based on DWA can avoid obstacles that suddenly appear in the process of robot moving in real time,effectively improving the problem that traditional robot path planning cannot avoid obstacles dynamically.The experimental results show that the fusion of the improved A~*algorithm and the dynamic window method can effectively improve the path planning of the robot in complex dynamic environment.
出处
《工业控制计算机》
2020年第10期67-70,共4页
Industrial Control Computer
