Path planning using A* algorithm and DWA

Abstract

Focusing on the issue that global path optimization and real-time obstacle avoidance cannot be combined while employing the A* algorithm or dynamic window technique alone in mobile robot navigation. A suggested mobile robot navigation algorithm combines the dynamic window approach with the enhanced A* algorithm. First, in the improved A* algorithm, the cost function is adaptively adjusted to improve the search efficiency of A* algorithm by introducing environmental information. In order to plan a global path with just key nodes, redundant nodes are removed and necessary path nodes are retained using a key node selection approach. Then, the evaluation function of dynamic window approach combined with key nodes information is constructed. The dynamic window approach is applied to plan the local path with the key nodes as the intermediate target points to improve the smoothness of the path, so as to achieve the global path optimization and real-time obstacle avoidance function. Finally, the viability and validity of the suggested navigation method is verified by demonstrating both simulation and real-world experiments simultaneously.