Integrating Improved DWA with A* Algorithm for Robot Path Planning

To realize the need for a push robot to move on a fixed route in a complex pasture environment, this paper proposes a path-planning method that integrates the improved A* algorithm and DWA. The segmented interpolation method is used to interpolate the path points on the global path planned by the A* algorithm to improve the path fitness and to realize the demand of moving on a fixed operation route. The simulation results show that compared with the traditional DWA and A* algorithm, the improved fusion path fitting distance is reduced by 21.36%, which can not only complete the route operation in the complex environment of the pasture but also realize the obstacle avoidance in time, which is easier to be applied in practice.