关键词: 路径规划, 改进A^*算法, 动态窗口法, 实时避障

Abstract: Addressing the problems of the traditional A^* algorithm in complex environments,including poor searching effect,tortuous paths,too close corners with obstacles and poor obstacle avoidance,a robot path planning algorithm integrating improved bidirectional A^* and Dynamic Window Approach (DWA) was proposed. Firstly,the bidirectional search mechanism and adaptive heuristic function were introduced to improve the search speed of the algorithm.Secondly,the line segment intersection method and safe distance determination were used to eliminate redundant points to ensure a safer and smoother path. Then,azimuth and target distance determination were added to DWA to enhance the obstacle avoidance ability of the algorithm. Finally,DWA was used in real-time obstacle avoidance in segments of the optimized global path.Simulation results show that the fusion algorithm can generate smoother paths within the safety boundary in complex scenes,effectively avoid obstacles and quickly reach the target point.

Key words: path planning, improved A^* algorithm, Dynamic Window Approach (DWA), real-time obstacle avoidance