关键词: 路径规划, A* 算法, DWA 算法, 移动机器人

Abstract: To make AGV ( Automated Guided Vehicle ) work efficiently in various environments, it is necessary to select a suitable path planning algorithm according to the actual terrain. We use the A* and DWA ( Dynamic Window Approach ) hybrid path planning algorithm and build four typical terrains,U-shaped, S-shaped, L-shaped and narrow passage in the simulation environment to conduct pathfinding experiments. Furthermore, we improve the weight recursive formula of Gmapping, remove the dependence on the previous moment data and improve the efficiency of the algorithm. The results show that the hybrid path planning algorithm has faster pathfinding speed and better obstacle avoidance ability than the single algorithm. It has the fastest pathfinding speed in L-shaped terrain and was relatively slow in U-shaped terrain and S-shaped terrain.

Key words: path planning, A* algorithm, dynamic window approach ( DWA) algorithm, automated guided vehicle (AGV)