关键词: 移动机器人, 路径规划, 改进RRT^*, 动态窗口法, 融合

Abstract: Path planning is a research hotspot of mobile robot,which is directly related to the efficiency and accuracy of mobile robot. Aiming at the problems that the existing research has not effectively solved the redundancy of turning points and the difficulty of obstacle avoidance in dynamic obstacle environment,a path planning algorithm of mobile robots based on B-spline improved RRT^* and Dynamic Window Approach (DWA) fusion was proposed. Firstly,the node pruning strategy was adopted to remove redundant nodes in the path. Then, B-spline curve was used to optimize the pruned path,shorten the path length,reduce the turning angle and make the path smoother. Finally,the improved DWA algorithm was integrated to ensure in real time avoidance of unknown obstacles under the condition of global optimization. Through MATLAB simulation and experiment based on ROS system,the results show that the proposed improved RRT^* and DWA fusion algorithm has the advantages of low cost,short running time,and can keeping a safe distance from obstacles,and planning the optimal path while avoiding dynamic obstacles.

Key words: mobile robot, path planning, improved RRT^*, Dynamic Window Approach (DWA), fusion