关键词: 速度障碍法(VO),  , 局部避障规划,  , 动态窗口法(DWA),  , 避障,  , A * 算法

Abstract: The traditional mobile robot based on DWA ( Dynamic window Approach ) algorithm exists the following deficiencies: longer obstacle avoidance time and the inability to optimize the local path planning in obstacle-intensive dynamic zone. Aimed at the problems mentioned above, a hybrid path algorithm combined A * algorithm with VO(Velocity Obstacle) is proposed to optimize the velocity of obstacle avoidance for mobile robots. Via the comparative experiment combined the DWA algorithm with the VO hybrid path algorithm in the case of three obstacles, the ROS (Robot Operating System) adopted the modular software design is put into practice to test the obstacle avoidance effect of the hybrid path planning algorithm. The results of simulation experiment in multiple environments clearly indicate that the obstacle avoidance effect will be significantly improved via the VO hybrid path algorithm in the scenarios scattered with multiple dynamic obstacles, and it has high speed of the obstacle movement and low frequency of radar scanning.

Key words: velocity obstacle(VO),  , local obstacle avoidance planning,  , dynamic window approach (DWA),  , avoidance,  , A * algorithm