Mr. Kun Zhang Profile

Kun Zhang

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Proceedings Article | 1 December 2023 Paper

A path planning for cultural tourism service robot combining improved A* algorithm and dynamic window approach

Mingchao Jia, Kun Zhang, Shengju Sang

Proceedings Volume 12940, 129402C (2023) https://doi.org/10.1117/12.3010592

KEYWORDS: Computer simulations, Mobile robots

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To meet the needs of the guidance of algorithm search in a complex environment, the optimality of global path in a static environment, and the security of real-time obstacle avoidance in a dynamic environment for path planning of cultural and tourism service robots, an algorithm based on the fusion of improved A * algorithm and Dynamic Window Approach is proposed. Firstly, based on the traditional A * algorithm, evaluation function are improved to improve the algorithm's search directionality to a certain extent; Secondly, the concept of safe distance is introduced, and a cubic broken line optimization method is proposed, which eliminates redundant nodes and inflection points, and only retains necessary key path points, greatly reducing the number of inflection points and improving the smoothness of the path. Subsequently, a dynamic obstacle vertical distance cost function was added to the evaluation function of the dynamic window approach to effectively reduce conflicts and collision risks between robots and dynamic obstacles. Finally, the improved A * algorithm is integrated with the dynamic window approach, selecting critical path points as temporary target points for the dynamic window approach. The dynamic window approach is used in segments for local real-time path correction, ensuring the optimal global path and avoiding collisions with unknown obstacles, ultimately achieving a safe and fast destination.

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