关键词: 移动机器人, 路径规划, 改进A*算法, 优化动态窗口法

Abstract: To solve the problems of traditional A* algorithm,including excessive turning points,overmuch time consumption,and the lack of flexibility of dynamic window approach in complex environment,a path planning algorithm based on the combination of improved A* algorithm and optimized dynamic window approach was proposed.A topology map with larger granularity was built on the traditional grid map,and then the paths planned by the topology layer were optimized on the grid map to remove redundant nodes and improve the smoothness of the paths.The dynamic window approach was optimized by increasing the motion states of the robot in different scenarios.The key point of global planning was taken as the temporary target point of local planning to realize the fusion of the two algorithms.The comparative experiments showed that the fusion algorithm not only ensured the optimal global path but also reduced the number of turning points and time consumption.Additionally,it improved the smoothness and flexibility of the robot's path in dynamic environment.

Key words: mobile robot, path planning, improved A* algorithm, optimization dynamic window approach