Journal of Shandong University(Engineering Science) ›› 2025, Vol. 55 ›› Issue (3): 16-24.doi: 10.6040/j.issn.1672-3961.0.2024.023

• Transportation Engineering—Special Issue for Intelligent Transportation • Previous Articles    

Improved A* and dynamic window approach for unmanned vehicle path planning

HAN Yi, LIU Yichao, GUAN Tian, LAN Liwen, TANG Ningye   

  1. School of Automobile, Chang'an University, Xi'an 710064, Shaanxi, China
  • Published:2025-06-05

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Abstract: To tackle the path planning challenges for indoor unmanned vehicle, an improved A* algorithm and dynamic window approach(DWA)were utilized to develop a hybrid path planning algorithm, which significantly enhanced both global optimality and real-time obstacle avoidance capabilities. Dynamic weights were employed to balance node expansion speed, which boosted the efficiency of the traditional A* algorithm in complex environments. 24-Neighborhood search strategy was introduced to address the issue of node revisitation in bidirectional searches. The differential in heading angles between successive moments was incorporated into the trajectory evaluation function, optimizing the adaptability of traditional DWA to obstacle distribution, reducing turning angles at obstacles, and increasing travel speed in open areas. An analysis of the planning algorithm's results, supported by simulation experiments, confirmed the efficacy of the hybrid path planning algorithm. Experimental outcomes showed that this enhanced algorithm could effectively ensure optimal path planning alongside robust real-time obstacle avoidance capabilities.

Key words: unmanned vehicle, path planning, improved A* algorithm, dynamic window approach, hybrid path planning algorithm

CLC Number: 

  • U469.79
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