改进A*算法、Floyd算法与改进动态窗口法相融合的混合路径规划与仿真  

Simulation of Hybrid Path Planning Integrating the Improved A*Algorithm,Floyd Algorithm,and Improved Dynamic Window Approach

作　　者：张科军 张龙 卢广进 ZHANG Kejun;ZHANG Long;LU Guangjin(School of Electronic and Information Engineering,Jingchu University of Technology,Jingmen 448000,China)

机构地区：[1]荆楚理工学院电子信息工程学院,湖北荆门448000

出　　处：《荆楚理工学院学报》2025年第2期38-46,共9页Journal of Jingchu University of Technology

基　　金：湖北省荆门市科技计划重点项目(2023YFZD001);荆楚理工学院自然科学基金重点项目(ZD202302);荆楚理工学院大学生创新创业项目(KC2023006)。

摘　　要：在复杂动态环境下,单一的路径规划算法具有一定的局限性。本算法将改进的A*算法与改进的动态窗口法相融合,在全局最优路径的基础上,实现了局部的实时动态避障。首先,通过对传统A*算法的启发函数进行优化,提高了全局搜索效率。然后,采用Floyd算法对全局最优路径进行平滑处理,有效减少了全局最优路径的转折点。最后,针对传统动态窗口法易陷入局部最优等问题,对目标函数进行了优化,将全局最优路径点作为改进动态窗口法的中间目标点,实现了两种算法的融合。仿真结果表明该融合算法获得的路径规划围绕着全局最优路径平滑波动,具有一定的实时动态避障能力。In complex dynamic environments,a single path planning algorithm has certain limitations.The proposed algorithm integrates an improved A*algorithm with an improved dynamic window approach,achieving a locally real-time dynamic obstacle avoidance on the basis of a global optimal path.Firstly,the global search efficiency is improved by optimizing the heuristic function of the traditional A*algorithm.Then,the Floyd algorithm is applied to smooth the global optimal path,which significantly decreases the inflection points in the global optimal path.Finally,to address the problem that the traditional dynamic window approach is susceptible to falling into local optima,the objective function is optimized,and the global optimal path points are taken as the intermediate target points in the improved dynamic window approach,then,the fusion of the two algorithms is realized.The simulation results show that the path planning obtained from the fusion algorithm fluctuates smoothly around the global optimal path,indicating ability in real-time dynamic obstacle avoidance.

关 键 词：A*算法 FLOYD算法 动态窗口法 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] TP312[自动化与计算机技术—控制科学与工程]