Path Planning Based on A-Star and Dynamic Window Approach Algorithm for Wild Environment

作     者：DONG Dejin DONG Shiyin ZHANG Lulu CAI Yunze 董德金;董诗音;章露露;蔡云泽

作者机构：Department of AutomationShanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information ProcessingMinistry of EducationShanghai200240China Shanghai Electro-Mechanical Engineering InstituteShanghai201109China 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2024年第29卷第4期

页      面：725-736页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Industry-University-Research Cooperation Fund Project of the Eighth Research Institute of China Aerospace Science and Technology Corporation(No.USCAST2022-11) 

主　　题：path planning path re-planning wild environment A-Star algorithm dynamic window approach 

摘      要：The path planning problem of complex wild environment with multiple elements still poses *** paper designs an algorithm that integrates global and local planning to apply to the wild environmental path *** modeling process of wild environment map is *** optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning ***,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional *** the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple *** improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.