A Mobile Robot Path Planning Algorithm Based on Improved A* Algorithm and Dynamic Window Approach

The traditional A* algorithm has several problems in practical applications, such as many path turning points, redundant nodes, and long running time. it is sometimes impossible to plan the theoretical optimal route. To solve above problem, this paper presents an optimized algorithm, adaptive adjustment step three-time Bezier curve are used of large angles, time search path. Moreover, aiming at planning problem mobile robots facing dynamic obstacle interference complex environments, that integrates improved with window method proposed, which not only solves shortcomings obstacles cannot be avoided, but also prevents robot from falling into local optimization. results show fusion reduces number turns by 50% length 3.62% compared original algorithm. In same environment, hybrid average consumption 10.27%, inflection points 57.14%, accuracy higher than 33.33%, more effective environments.