[1]黄昱航,李国刚,焦启,等.融合距离引导式A*算法与动态窗口法的移动机器人路径规划[J].华侨大学学报(自然科学版),2025,(1):87-94.[doi:10.11830/ISSN.1000-5013.202404033]
 HUANG Yuhang,LI Guogang,JIAO Qi,et al.Path Planning for Mobile Robots by Integrating Distance-Guided A* Algorithm and Dynamic Window Approach[J].Journal of Huaqiao University(Natural Science),2025,(1):87-94.[doi:10.11830/ISSN.1000-5013.202404033]
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融合距离引导式A*算法与动态窗口法的移动机器人路径规划()
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《华侨大学学报(自然科学版)》[ISSN:1000-5013/CN:35-1079/N]

卷:
期数:
2025年第1期
页码:
87-94
栏目:
出版日期:
2025-01-10

文章信息/Info

Title:
Path Planning for Mobile Robots by Integrating Distance-Guided A* Algorithm and Dynamic Window Approach
文章编号:
1000-5013(2025)01-0087-08
作者:
黄昱航12 李国刚12 焦启12 曹冬平12
1. 华侨大学 信息科学与工程学院, 福建 厦门 361021;2. 华侨大学 厦门市专用集成电路系统重点实验室, 福建 厦门 361021
Author(s):
HUANG Yuhang12 LI Guogang12 JIAO Qi12 CAO Dongping12
1. College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China; 2. Xiamen City Key Laboratory of Application Specific Integrated Circuit System, Huaqiao University, Xiamen 361021, China
关键词:
移动机器人 路径规划 A*算法 动态窗口法 动态避障
Keywords:
mobile robot path planning A* algorithm dynamic window approach dynamic obstacle avoidance
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.202404033
文献标志码:
A
摘要:
为解决移动机器人路径规划中效率低下等问题,提出一种距离引导式A*算法与动态窗口法的融合算法。在改进A*算法中,引入双向搜索策略,采用综合距离启发函数,利用全局路径筛选策略对路径进行优化。在得到全局最优路径的基础上,与动态窗口法结合,实现移动机器人的动态避障。结果表明:距离引导式A*算法和文中融合算法在路径长度、遍历节点数目和运行时间方面实现了显著提升,能更好地满足移动机器人对路径规划的要求。
Abstract:
To solve the problem of low efficiency in mobile robot path planning, a fusion algorithm combining a distance-guided A* algorithm with the dynamic window approach is proposed. In the improved A* algorithm, a bidirectional search strategy is introduced, and a comprehensive distance heuristic function is adopted, utilizing a global path filtering strategy to optimize the path. On the basis of obtaining the global optimal path, it is combined with the dynamic window approach to achieve dynamic obstacle avoidance for the mobile robot. The results show that the distance-guided A* algorithm and the proposed fusion algorithm achieve significant improvements in terms of path length, the number of traversed nodes, and running time, which better satisfies the requirements of mobile robot for path planning.

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备注/Memo

备注/Memo:
收稿日期: 2024-04-11
通信作者: 李国刚(1973-),男,副教授,博士,主要从事电子信息方面的研究。E-mail:lgg@hqu.edu.cn。
更新日期/Last Update: 2025-01-20