关键词: 改进A*算法, DWA算法, 双向搜索策略, 路径规划

Abstract:

In order to improve the real-time performance and security of the traditional A* algorithm during path planning, a path planning method incorporating improved A* and DWA(Dynamic Window Approach) is proposed. Firstly, the search neighborhood of the A* algorithm is optimized to reduce the search direction of nodes. Secondly, the search mechanism is optimized by introducing bidirectional search and dynamically defining the target node strategy to carry out bidirectional path searching from the start node and the target node. Dynamic weighting coefficients are introduced to reduce the generation of redundant nodes in the process of path searching, and the paths are smoothed by the Bezier curves. And lastly, the improved A* algorithm is fused with the DWA algorithm to realize dynamic obstacle avoidance. Simulation is carried out using PyCharm, and the results show that, compared with the other two algorithms, the search nodes of the improved A* algorithm are reduced by more than 46.25%, and the search time is reduced by more than 24.06%. The integrated algorithm is able to realize dynamic obstacle avoidance, and the smoothness and safety of the planned paths have been improved.

Key words: improved A* algorithm, dynamic window approach ( DWA) algorithm, bidirectional search strategy, path planning