An Fusion Algorithm of Improved A* and IDWA for Dynamic Path Planning

Aiming at the problems of path redundancy, unsmooth path and low real-time obstacle avoidance rate in the path planning , a dynamic path planning algorithm based on improved A* algorithm and improved dynamic window approach is proposed. First, the search method of the A* algorithm is extended to 7*7 neighborhood search, and then the path is secondarily planned by removing redundant nodes. Secondly, the weighting coefficient of adaptive heading angle is used in the evaluation function of dynamic window approach, so that the robot can automatically adjust the steering according to the change of environmental obstacle rate. Finally, a global optimal evaluation function is designed based on the dynamic window approach of adaptive heading angle weighting coefficient, the path node of the improved A* algorithm and final position are added to the evaluation function. Simulation results show that the algorithm optimizes the path length by 9.2% and reduces the planning time by 51.13%.