Dynamic Obstacle Avoidance Research for Mobile Robots Incorporating Improved A-Star Algorithm and DWA Algorithm

• Published in: 2023 3rd International Conference on Computer Science, Electronic Information Engineering and Intelligent Control Technology (CEI) pp. 896 - 900
• Main Authors: Jiang, Chengjie, Zhu, Hua, Xie, Yao
• Format: Conference Proceeding
• Language: English
• Published: IEEE 15-12-2023
• Subjects: Collision avoidance; Computer science; DWA algorithm; dynamic obstacle avoidance; Heuristic algorithms; improved A-star algorithm; Mobile robot; Mobile robots; Path planning; Safety; Turning
• DOI: 10.1109/CEI60616.2023.10528067

Aiming at the traditional A-star algorithm path search time is longer, more turning points, and the search path is not safe and smooth enough. A new path planning method incorporating the improved A-star algorithm and DWA algorithm is proposed to solve the path planning problem of localized dynamic obstacle avoidance for mobile robots. On the basis of analyzing the principle, advantages and disadvantages of traditional A-star algorithm path planning, we improve the operation efficiency of the algorithm by reducing the search direction of traditional A-star algorithm and deleting the redundant nodes in the middle. And introduce the DWA algorithm to realize dynamic obstacle avoidance of the robot. The experimental results show that the fused algorithm can plan a reasonable and smooth running path in the region where dynamic obstacles exist. It also has better obstacle avoidance effect while ensuring the safety of the robot.