关键词: 路径规划, 改进BIT*算法, DWA算法, RRT*算法

Abstract: Traditional batch informed trees（BIT*） algorithm combines the advantages of RRT* algorithm and A* algorithm, but this algorithm cannot avoid unknown dynamic obstacles and cannot complete dynamic path planning in complex environment. To solve this problem, an algorithm combining the improved BIT* with DWA algorithm is proposed. Firstly, the stretch optimization of the path is carried out based on the BIT* algorithm to extract the key turning points and reduce the length of the path. Then, the distance evaluation function of the traditional DWA algorithm is improved and the track point evaluation function is introduced to avoid excessive deviation of local planning and reduce the influence of known obstacles on the path. Finally, the improved BIT* algorithm is fused with the improved DWA algorithm, and the extracted key turning points are taken as the intermediate target points of DWA to compensate for the shortcomings of the global planning algorithm that cannot avoid dynamic obstacles and the local planning algorithm that has low global capability. The RRT *algorithm, BIT* algorithm, DWA algorithm, improved BIT* algorithm and fusion algorithm are simulated in dynamic and static maps. The simulation results show that the improved BIT* algorithm has shorter paths and fewer inflection points in complex environments. Compared with the traditional DWA algorithm, the route planned by the fusion algorithm is smoother. The robot can not only reach the destination in real time and dynamically avoid obstacles, but also get closer to the global path to ensure the global optimal route.

Key words: path planning, improved BIT* algorithm, DWA algorithm, RRT* algorithm