Global Dynamic Path Planning Based on Fusion of A^* Algorithm and Dynamic Window Approach

摘要

To elevate capabilities of global optimal and real-time obstacle avoidance of mobile robots, a novel method based on fusion of $A^{\star}$ algorithm and dynamic window approach is proposed. Firstly, the principle and work process of $A^{\star}$ algorithm is introduced and simulation experiments in MATLAB are used to compare A$^{\star}$ algorithm and Dijkstra algorithm, then the dynamic window approach based on the evaluation function is applied to implement dynamic path planning to guarantee the ability of obstacle avoidance as holding the global optimality of path. Finally, the experimental results in ROS system verified the effectiveness of global path planning algorithm and the fusion algorithm in a simulation environment.