Hybrid path planning algorithm for mobile robot based on A* algorithm fused with DWA
Leng Han, Xuhui Wu, Xia Sun
Abstract
Mobile robots operating in unknown environments and require collision-free real-time path planning. In this paper, a hybrid path planning algorithm is proposed to solve the navigation problem of mobile robots in the presence of unpredictable obstacles. First, to improve the global algorithm’s planning efficiency, the heuristic function of the A* algorithm is improved. In addition, this paper forms a hybrid path-planning algorithm by fusing the DWA algorithm. The local path planning is carried out with the intersection of the scope of the local path planning and the global path as the intermediate target point. The trajectory similarity evaluation coefficient is added to the heuristic function. When the original global path needs to be re-opened due to unknown obstacles, the local planning function is then fed back to the improved A* algorithm for dynamic path re-planning. The simulation results show that the hybrid path algorithm can avoid dynamic environmental obstacles. At the same time, when encountering unknown obstacles, it adopts local planning and adjusts the global path to meet the navigation requirements of mobile robots in complex environments.