Automatic obstacle avoidance system based on DWA combined with A-star algorithm

Zhiyuan Zhou; Yi Bao; Ruoxiao Qin

doi:10.1117/12.3030641

5 June 2024 Automatic obstacle avoidance system based on DWA combined with A-star algorithm

Zhiyuan Zhou, Yi Bao, Ruoxiao Qin

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131636C (2024) https://doi.org/10.1117/12.3030641
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

The combined global dynamic path planning method, which integrates the improved Astar algorithm with the Dynamic Window Approach (DWA), is introduced in this article, along with its application in environment mapping in conjunction with SLAM technology. The significant feature of this method is the combination of the global path planning capability of the Astar algorithm with the local obstacle avoidance ability of the DWA, resulting in remarkable path planning performance and obstacle avoidance capability. Furthermore, potential issues in local path planning with the DWA algorithm are discussed, and a solution is proposed to address local suboptimal solutions by combining the Astar algorithm with the DWA algorithm. The need for further experimental validation and algorithm optimization in future research is emphasized in the conclusion.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zhiyuan Zhou, Yi Bao, and Ruoxiao Qin "Automatic obstacle avoidance system based on DWA combined with A-star algorithm", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131636C (5 June 2024); https://doi.org/10.1117/12.3030641

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