关键词: 移动机器人, 路径规划, A*算法, 动态窗口法

Abstract: To solve the inherited problems of A* algorithm and dynamic window approach in path planning,an improved fusion algorithm of mobile robot path planning by combining A* algorithm with dynamic window approach was proposed.A* algorithm was used to plan the global path for the mobile robot.A key node extraction strategy was designed to optimize the global path by eliminating its inflection points and redundant nodes.According to key nodes,an improved dynamic window approach was adapted to cooperate with A* algorithm for optimizing each local path.Simulation results showed the improvement of the fusion algorithm in path length,smoothness and safety,and the high efficiency in the path planning of practical scenario.

Key words: mobile robot, path planning, A* algorithm, dynamic window approach