基于改进A*-DWA算法的移动机器人避障技术OA
Obstacle avoidance technology of mobile robot based on improved A*-DWA algorithm
为解决传统A*算法在实际应用中存在的动态性不足、避障效率低及运行时间长等问题,提出一种考虑运动学约束A*算法与动态窗口法(Dynamic Window Approach,DWA)相结合的方法.首先,在考虑机器人运动学的基础上,改进A*算法的节点扩展方法和启发函数模型,以提高搜索效率并减少路径转向次数,从而使得A*算法生成的路径更好地满足机器人运动约束.其次,优化DWA算法的路径评价函数,使DWA算法规划的局部路径更加平滑连贯,更有利于机器人运动执行.最后,从A*算法规划的全局路径中提取关键节点,指导DWA算法进行局部规划和动态避障.仿真结果表明,改进A*-DWA算法较其他算法规划耗时最多节约45.09％,行驶距离最多减少13.49％.实验验证了改进A*-DWA算法的有效性.
To solve the problems of the traditional A* algorithm in practical application,such as insufficient dynamics,low obsta-cle avoidance efficiency and long running time,a method combining kinematically constrained A* algorithm with Dynamic Window Approach(DWA)was proposed.Firstly,considering the robot kinematics,the node extension method and heuristic func-tion model of A* algorithm were improved to improve the search efficiency and reduce the number of path turns,so that the path generated by A* algorithm can better meet the requirements of robot motion.Secondly,the path evaluation function of DWA algo-rithm was optimized to make the local path planned by DWA algorithm more smooth and coherent,which is more conducive to ro-bot motion execution.Finally,key nodes were extracted from the global path planned by A* algorithm to guide DWA algorithm to local planning and dynamic obstacle avoidance.Simulation results show that compared with other algorithms,improved A*-DWA algorithm can save up to 45.09％of planning time and reduce the driving distance by up to 13.49％.Experiments show the ef-fectiveness of improved A*-DWA algorithm.
余风军;周晓平
河南司法警官职业学院,郑州 450046郑州大学电气与信息工程学院,郑州 450001
信息技术与安全科学
A*算法动态窗口法机器人避障运动学约束路径评价
A* algorithmDynamic Window Approach(DWA)robotobstacle avoidancekinematically constrainpath evaluation
《现代制造工程》 2026 (2)
30-34,65,6
2023年度河南省科技攻关项目(232102210141)
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