Mobile Robot Path Planning Based on Kinematically Constrained A-Star Algorithm and DWA Fusion Algorithm

• DOI: 10.3390/math11214552
• Publication Date: 2023-11-05T12:35:06Z
• Authors: Yanjie Liu; Chao Wang; Heng Wu; Yanlong Wei
• Keywords: A* search algorithm; Obstacle avoidance; Any-angle path planning

Path-planning research has been the key to mobile-robot-navigation technology. However, traditional path-planning algorithms have some shortcomings. To solve these problems, this paper proposes a fusion algorithm that combines kinematical constrained A* with Dynamic Window Approach (DWA) algorithm. The can plan global path, and then DWA local path under path’s guidance. Firstly, combined robot kinematics, we improve node-expansion method heuristic-function model of algorithm, which improves search efficiency, reduces number bends lowers computational cost so generated by better meets needs motion. Secondly, optimize trajectory-evaluation function paths planned are smoother more coherent, is easier for robot-motion execution. Finally, extract nodes from guide planning dynamic-obstacle avoidance make closer path. Through simulation practical experiments, effectiveness proposed in verified.