Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (8): 244-248.DOI: 10.3778/j.issn.1002-8331.2008-0063

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Improved A* Algorithm and Dynamic Window Method for Robot Dynamic Path Planning

HUAI Chuangfeng, GUO Long, JIA Xueyan, ZHANG Zihao   

  1. School of Mechanical and Electrical and Vehicle Engineering, East China Jiaotong University, Nanchang 330013, China
  • Online:2021-04-15 Published:2021-04-23



  1. 华东交通大学 机电与车辆工程学院,南昌 330013


In view of the disadvantages of traditional A* algorithm’s own node search strategy, such as many path turning points, large turning angles, and feasible paths that are not theoretically optimal paths, the traditional A* algorithm 3×3 search neighborhood is expanded to 7×7, at the same time the redundant sub-nodes in the same direction in the extended neighborhood are removed and it is improved to the 7×7 A* algorithm, eliminating the traditional A* algorithm’s 3×3 neighborhood search and the restriction that the node moving direction is only an integer multiple of [0.25π], and the search angle is optimized. Secondly, for the problem of dynamic path planning of mobile robots in complex environments, the improved 7×7 A* algorithm and dynamic window algorithm are combined, and a dynamic window evaluation function of the global optimal path is designed, taking into account the moving speed and turning angle. For factors such as smoothness and security, the fusion algorithm of the improved 7×7 A* algorithm and the dynamic window method is compared with a variety of algorithm simulations. The results show that the improved 7×7 A* algorithm and the fusion algorithm of the dynamic window method are better. It is highly efficient and feasible.

Key words: improved A* algorithm, dynamic window algorithm, dynamic path planning, fusion algorithm



关键词: 改进的A*算法, 动态窗口法, 动态路径规划, 融合算法