复杂动态环境下基于A*的改进DWA算法研究  

Research on improved DWA algorithm based on A* incomplex dynamic environment

作　　者：邓云峥 黄翼虎[1] Deng Yunzheng;Huang Yihu(College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266042,China)

机构地区：[1]青岛科技大学自动化与电子工程学院,青岛266042

出　　处：《电子测量技术》2023年第9期69-76,共8页Electronic Measurement Technology

摘　　要：针对传统DWA算法在复杂动态环境中容易陷入局部最优和动态避障性差等问题,提出一种基于A*的改进DWA算法。首先在DWA算法中引入碰撞锥对静、动障碍物进行避障检测,并通过速度窗口剔除掉具有碰撞威胁的速度来优化约束空间。其次根据静、动障碍物信息改进评价函数,提高DWA算法的轨迹评估能力。最后将改进的DWA算法与A*算法相融合,解决DWA算法在复杂环境中容易陷入局部最优的问题。仿真结果显示,相比于其他同类型算法,该算法在行进速度和安全距离方面均可提高50%以上,不但可以使机器人按照全局最优路径行进,而且有效提高了机器人在复杂动态环境的避障能力。Aiming at the problems that traditional DWA algorithm is easy to fall into local optimum and dynamic obstacle avoidance is poor in complex dynamic environment,an improved DWA algorithm based on A*was proposed.Firstly,a collision cone is introduced into the DWA algorithm to detect the static and moving obstacles,and the speed with collision threat is eliminated through the speed window to optimize the constraint space.Secondly,the evaluation function is improved according to the static and moving obstacle information to improve the trajectory evaluation ability of DWA algorithm.Finally,the improved DWA algorithm is integrated with A*algorithm to solve the problem that DWA algorithm is easy to fall into local optimum in complex environment.Simulation results show that compared with other similar algorithms,the proposed algorithm can improve the traveling speed and safe distance by more than 50%,which not only can make the robot travel according to the global optimal path,but also effectively improve the robot's obstacle avoidance ability in complex dynamic environment.

关 键 词：复杂动态环境 A*算法 动态避障 DWA算法 碰撞锥 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]