Path Planning Method for Mobile Robot Based on a Hybrid Algorithm

This paper proposes a hybrid algorithm to complete path planning and dynamic obstacle avoidance in complicated maps for mobile robot. The hybrid algorithm (A*-DWA-B) combines the advantages of A* algorithm and Dynamic Window Approach (DWA). Firstly, methods of environmental modeling and collision detection are set. The improvement of A* algorithm lies in the establishment of a new calculation method for the evaluation function. After adding the risky cost, the parent node information is introduced into the calculation of the estimated cost, and the influence of the robot starting and braking modes is added to the calculation of the actual cost. Secondly, after removing superfluous nodes, the path obtained by the improved A* algorithm is divided into several linear segment paths. Then the endpoints of each line segment path are taken as the start node and target node of DWA for path planning. Adaptive initial attitude is set and two dynamic obstacle avoidance strategies are added for DWA. After integrating the paths planned by DWA, the B-spline smoothing method is used to optimize the integrated path, and finally obtained a smooth path. Compared with other similar algorithms, the proposed algorithm has advantages in path cost and turning angle. Experimental results show that the hybrid algorithm not only has strong ability of safe and smooth path planning, but also can avoid dynamic obstacles in time and effectively.