基于优化A^*和DWA算法的移动机器人避障路径规划  

Path planning for obstacle avoidance of mobile robot based on optimized A^* and DWA algorithm

作　　者：曹毅[1] 周轶 张亚宾 Yi CAO;Yi ZHOU;Ya-bin ZHANG(College of Electrical Engineering,Henan University of Technology,Zhengzhou 450000,China)

机构地区：[1]河南工业大学电气工程学院,河南郑州450001

出　　处：《机床与液压》2020年第24期246-252,共7页Machine Tool & Hydraulics

基　　金：河南省教育厅自然科学基金项目(20A413004);小麦和玉米深加工国家工程实验室(NL2016012);河南省创新科技人员队伍建设项目(114100510015)。

摘　　要：针对移动机器人在路径规划过程中路径曲率不连续,避障能力差等问题,提出了一种将改进A^*和动态窗口法(DWA)相结合的路径规划方法。首先,在传统的A^*算法基础上,将传统的8个搜索方向改为5个,提高搜索效率;其次,将Floyd算法思想引入A^*算法中,设计了一种新的启发式搜索函数,实现了无斜穿障碍物顶点,增加了路径的平滑度;最后,融合改进算法以及动态窗口法,构造了新的评价函数,在保证规划路径全局最优性的基础上达到避障效果。仿真结果表明:该研究对于移动机器人自主导航的应用具有一定的参考价值。A path planning method combining with an improved A^* and Dynamic Window Approach(DWA)is proposed to address the problems of discontinuous path curvature and inefficient obstacle avoidance in the path planning of mobile robots.Firstly,based on the traditional A^* algorithm,the conventional eight search directions are deduced to five for improving the search efficiency.Secondly,the Floyd algorithm is introduced into the A^* algorithm,and a new heuristic search function is designed to achieve no oblique through the vertex of the obstacle,and to increase the smoothness of the path.Finally,a novel evaluation function is constructed by fusing the improved algorithm with the DWA to avoid barriers while ensuring the global optimization of the planned path.The simulation results indicate that this research makes some practical sense for the implementation of autonomous navigation of mobile robots.

关 键 词：移动机器人 路径规划 A^*算法 DWA算法 全局最优 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]