Path Planning Algorithm for Heavy-duty AGV Based on A* Algorithm Fused with DWA

In a complex working environment, it is particularly important to automatically plan a safe and real-time path when heavy-duty AGV are used for automated transportation. The traditional A* algorithm has shortcomings in terms of low search efficiency, many redundant points and obstacle avoidance. Meanwhile, the traditional dynamic window method (DWA) is prone to falling into a local optimal solution. Therefore, this paper proposes a fusion algorithm. First, the A* algorithm is improved by using a two-way search, introducing dynamic weights in the heuristic function, and deleting redundant points. Then the dynamic obstacle avoidance strategy is introduced in the evaluation function of the DWA algorithm, and the improved A* algorithm is fused with the improved DWA algorithm. Finally, the superiority of the improved fusion algorithm is verified through simulation experiment comparison and real experiment.