Dynamic Path-Planning of the Fusion algorithm based on the Improved A* and DWA algorithms

The purpose of path-planning is to efficiently find the optimal or near-optimal path of mobile robots according to the engineering needs and map environment. A* and DWA algorithms are usually used for path-planning algorithms. Based on actual engineering needs, the two algorithms are improved in this document to improve the efficiency and security of path-planning. To solve problems such as the A * algorithm having many redundant points and inflection points in global path-planning, and the DWA algorithm easily falls into local optimality in local path-planning, an improved fusion algorithm of the A* algorithm and DWA algorithm is proposed. The evaluation function of the A* algorithm and DWA algorithm is improved, and security is considered. The dynamic window area is designed so that the window area can be dynamically adjusted during the path-planning of the DWA algorithm. The simulation shows that the proposed improved fusion algorithm is more efficient and secure than traditional A* and DWA algorithms.