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Path Planning Based on A-Star and Dynamic Window Approach Algorithm for Wild Environment

基于A-Star和DWA算法的野外环境路径规划

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Abstract

The path planning problem of complex wild environment with multiple elements still poses challenges. This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning. The modeling process of wild environment map is designed. Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles, redundant nodes and twisting paths. A new weighted cost function is designed to achieve different planning modes. Furthermore, the improved dynamic window approach (DWA) is designed to avoid local optimality and improve time efficiency compared to traditional DWA. For the necessary path re-planning of wild environment, the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements. The improved fusion algorithm effectively solves problems and consumes less time, and the simulation results verify the effectiveness of improved algorithms above.

摘要

多要素复杂野外环境的路径规划问题仍然是一个挑战。设计了一种将全局规划和局部规划相结合的算法, 应用于野外环境路径规划。提出了野外环境地图的建模过程。设计了三种优化策略来克服接触障碍物边缘、冗余节点和扭曲路径等问题, 以提高A-Star算法性能, 并设计了一种新的加权成本函数来实现不同的规划模式。此外, 与传统的动态窗口方法(DWA)相比, 改进的DWA避免了局部最优, 提高了时间效率。为了对野外环境进行必要的路径重规划, 将改进的A-Star与改进的DWA相结合, 实现了野外环境中存在未知障碍物和移动障碍物的多要素重规划。改进的融合算法有效地解决了上述问题, 节省了时间, 仿真结果验证了改进算法的有效性。

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Acknowledgment

The authors would like to express heartfelt thanks to Zhang Yun and Wang Yuqi for their help with this research.

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Dejin Dong  (董德金), Lulu Zhang  (章露露) & Yunze Cai  (蔡云泽)

  2. Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China

    Dejin Dong  (董德金), Lulu Zhang  (章露露) & Yunze Cai  (蔡云泽)

  3. Shanghai Electro-Mechanical Engineering Institute, Shanghai, 201109, China

    Shiyin Dong  (董诗音)

Authors
  1. Dejin Dong  (董德金)
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  2. Shiyin Dong  (董诗音)
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  3. Lulu Zhang  (章露露)
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  4. Yunze Cai  (蔡云泽)
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Correspondence to Yunze Cai  (蔡云泽).

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Conflict of Interest The authors declare that they have no conflict of interest.

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Foundation item: the Industry-University-Research Cooperation Fund Project of the Eighth Research Institute of China Aerospace Science and Technology Corporation (No. USCAST2022-11)

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Dong, D., Dong, S., Zhang, L. et al. Path Planning Based on A-Star and Dynamic Window Approach Algorithm for Wild Environment. J. Shanghai Jiaotong Univ. (Sci.) (2024). https://doi.org/10.1007/s12204-024-2731-2

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  • DOI: https://doi.org/10.1007/s12204-024-2731-2

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