• 工程与应用 •

### 双层优化A*算法与动态窗口法的动态路径规划

1. 西安理工大学 机械与精密仪器工程学院，西安 710048
• 出版日期:2021-11-15 发布日期:2021-11-16

### Dynamic Path Planning Based on Bilevel Optimization A* Algorithm and Dynamic Window Method

ZHAO Wei, WU Ziying

1. School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China
• Online:2021-11-15 Published:2021-11-16

Abstract:

To meet the needs of mobile robot’s dynamic obstacle avoidance and global optimal path planning in dynamic environment, a path planning algorithm for mobile robot based on the combination of bilevel optimization A* algorithm and dynamic window method is proposed. Based on the global path trajectory obtained by the traditional A* algorithm, firstly, through the first level of global optimization, the slope between the path nodes is calculated, and the key turning points are extracted to greatly reduce the number of path turning points; secondly, through the second level of global optimization, the path intersection is obtained by extending the path segment, and the path turning points are minimized by judging whether the intersection passes through obstacles; finally, the dynamic window method is designed, the problem that the robot is easy to fall into the “concave” and “C” shaped obstacles is solved, the safe distance is ensured, and the global optimal path is selected. The global simulation experiments of traditional A* algorithm, one-level optimization A*, two-level optimization A*, and fusion algorithm are carried out in static and dynamic two-dimensional raster maps. The experimental results show that the first level optimization A* algorithm greatly reduces the number of turning points; the second level optimization A* algorithm reduces the number of turning points to the minimum, but increases the path length by a small margin; the fusion algorithm realizes the robot’s real-time dynamic obstacle avoidance to reach the destination, and is closer to the global optimal planning while ensuring the safe distance.