A Global Dynamic Path Planning Algorithm Based on Optimized A* Algorithm and Improved Dynamic Window Method

Abstract

In order to solve the path planning and real-time obstacle avoidance problems of unmanned surface vehicles (USV), this paper proposes a global dynamic path planning algorithm based on improved A* algorithm and optimized dynamic window method. An optimized A * algorithm is formed to solve the global path planning problem by optimizing the heuristic function, filtering out the global optimal key turning points in the path, and reducing the search directions to rise the calculational speed. The introduction of global optimal path using a key turning point in the dynamic window method solves the problem of local path planning. The optimized A * algorithm and the improved dynamic window method are combined to form a fusion algorithm. Simulation analysis in multiple environments proves that the fusion algorithm is superior to the traditional A * algorithm in global path planning questions, improving the smoothness of the planned path and solving the problem of planning the path in a dynamic environment.