Hybrid Path Planning Algorithm Based on Improved Dynamic Window Approach

摘要

Path planning is the hot topic in the autonomous robot navigation research area. Different from the former researchers, namely using the static obstacle environments, in this paper, we propose a hybrid path planning algorithm based on improved dynamic windows approach. The proposed algorithm can be shown as 1 Use the Astar algorithm to plan the path to avoid static obstacles in the operating environment, 2 Design a stage target selection strategy to guide the mobile robot to move on the global optimal planning path, 3 Propose an improved dynamic window approach that integrates the speed obstacle method, and the mobile robot is facing When moving obstacles, it can flexibly avoid, and maintain the smoothness of the path and the executable of speed control commands. Finally, the feasibility and effectiveness of the algorithm proposed in this paper are verified through the design algorithm simulation experiment, and the simulation result analysis verifies the obstacle avoidance of the improved algorithm Effect and real-time path optimality.