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27 March 2024 Path planning for robots utilizing the enhanced A* and improved dynamic window approach algorithm
Hangda Zhao, Shanmei Liu
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Proceedings Volume 13105, International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2023); 131052Z (2024) https://doi.org/10.1117/12.3026380
Event: 3rd International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2023), 2023, Qingdao, China
Abstract
To address the issues of low search efficiency and the inability to dynamically avoid unknown obstacles in complex environments during mobile robots’ path planning, a novel approach called the F_TSEA_IDWA algorithm is introduced to tackle these challenges effectively. The F_TSEA_IDWA algorithm is a fusion of two improved algorithms, namely TSE_A* and DWA. Initially, the TSE_A* algorithm is employed to conduct global path planning, followed by the extraction of path nodes generated by the TSE_A* algorithm as intermediate target points for the enhanced DWA algorithm. Subsequently, the improved DWA algorithm is applied to perform local dynamic path planning. Experimental results reveal that the F_TSEA_IDWA algorithm not only avoids local optima and reaches the endpoint successfully, but also effectively avoids unknown obstacles and enhances the dynamic obstacle avoidance performance of mobile robots in complex environments. Thus, the proposed fusion algorithm offers a viable solution for the path planning of mobile robots.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Hangda Zhao and Shanmei Liu "Path planning for robots utilizing the enhanced A* and improved dynamic window approach algorithm", Proc. SPIE 13105, International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2023), 131052Z (27 March 2024); https://doi.org/10.1117/12.3026380
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KEYWORDS
Mobile robots
Robots
Algorithm development
Computer simulations
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