Research on AGV Path Planning Integrating an Improved A* Algorithm and DWA Algorithm
Abstract
:1. Introduction
2. Alternative Implementation of the A* Algorithm
2.1. Traditional A* Algorithm
2.2. Alternative A* Algorithm
2.3. Optimize the Way Child Nodes Are Selected
2.4. Smoothness Optimization
3. Improvement of the DWA Algorithm
3.1. Traditional DWA Algorithm
3.2. Improvements to the DWA Algorithm
4. Hybrid Algorithm
5. Simulation and Experimental Analysis
6. Conclusions
Funding
Conflicts of Interest
References
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Path Length (m) | Path Search Time (s) | Distance from Path to the Nearest Obstacle (m) | |
---|---|---|---|
Traditional A* algorithm | 17.556 | 16.11 | 0 |
Alternative A* algorithm | 16.728 | 15.35 | 0.5 |
Parameter name | Numerical Value |
---|---|
Maximum line speed | 2 m/s |
Maximum angular velocity | 0.7 rad/s |
Maximum linear acceleration | 0.4 m/s2 |
Maximum angular acceleration | 1.7 rad/s2 |
Projection time | 3 s |
Path Length (m) | Path Search Time (s) | Distance from Path to Nearest Obstacle (m) | |
---|---|---|---|
Alternative algorithm for A* algorithm | 16.728 | 15.35 | 0 |
Improvement of the DWA algorithm | 19.575 | 33.93 | 0.34 |
Fusion Algorithms | 16.617 | 14.84 | 0.48 |
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Sang, W.; Yue, Y.; Zhai, K.; Lin, M. Research on AGV Path Planning Integrating an Improved A* Algorithm and DWA Algorithm. Appl. Sci. 2024, 14, 7551. https://doi.org/10.3390/app14177551
Sang W, Yue Y, Zhai K, Lin M. Research on AGV Path Planning Integrating an Improved A* Algorithm and DWA Algorithm. Applied Sciences. 2024; 14(17):7551. https://doi.org/10.3390/app14177551
Chicago/Turabian StyleSang, Wenpeng, Yaoshun Yue, Kaiwei Zhai, and Maohai Lin. 2024. "Research on AGV Path Planning Integrating an Improved A* Algorithm and DWA Algorithm" Applied Sciences 14, no. 17: 7551. https://doi.org/10.3390/app14177551