Research on Dynamic Path Planning for Robots Based on the Integration of Improved A* Algorithm and DWA(Dynamic Window Approach) Algorithm

Abstract

This paper presents a mobile robot path planning algorithm that combines an improved A* algorithm with the DWA algorithm. The proposed method integrates the global optimality of the A* algorithm with the dynamic obstacle avoidance capability of the DWA algorithm. First, the improved A* algorithm uses obstacle density information to adaptively adjust the cost function in segments, which enhances search efficiency. Second, based on the global path, a DWA evaluation function incorporating key point information is constructed. Key points are then used as intermediate targets for the DWA algorithm to plan the local path, achieving both global optimality and dynamic obstacle avoidance. Finally, simulation experiments verify the effectiveness and feasibility of the proposed algorithm.