Navigation Fusion Algorithm Based on Improved A* Algorithm and Dynamic Window Approach

摘要

In the process of indoor mobile robot navigation, in order to improve the efficiency and safety of the planning algorithm, a global dynamic path planning of mobile robot is proposed by using the fifth-order Bessel curve optimization A* algorithm and integrating the dynamic window approach. Firstly, the A* algorithm is used to add the jump point search strategy to efficiently plan the global path in the grid map, and find out the break points in the path. Then, the fifth-order Bessel curve is used to generate a new local path with a certain curvature and a relatively short path between adjacent break points. Finally, the dynamic path planning is completed by combining the dynamic window approach. The experimental results show that the fusion algorithm has significantly improved the efficiency and path smoothness, and can dynamically avoid obstacles. The fusion algorithm has obvious excellent path planning ability.