Research on Obstacle Avoidance Schedule Path Power Inspection Robot Based on Improved A* Algorithm and Dynamic Windows Algorithm

Aiming at problems with the traditional A* algorithm many redundancy sections and long route planning time, in this paper, we propose an improved A* algorithm for integrate it with DWA algorithm. Firstly, the subentry points of the robot are determined based on the selection of key nodes by A* algorithm. Then the evaluation function of environmental obstacles and motion trajectory is changed to control the robot to plan a reasonable path under the obstacles. Finally, validity A* fusion DWA algorithm is verified when the obstacles are known. Experimental results show that combination of A* algorithm and DWA algorithm can optimize the smoothness and safety route planning for robots facing obstacles in different environments.