ROS移动机器人路径规划算法的研究

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中图分类号：TP242 文献标识码：A 文章编号：2096-4706（2025）18-0163-06

Abstract： With the development of automation and the popularization of Artificial Intelligence，the application of autonomous navigationtechnology isbecoming increasingly extensive.Toenhance theabilityofrobotpath planningalgorithms togenerate eficientpaths incomplex environments，animproved path planning framework isresearchedanddesigned.This framework includes the A* -Dijkstra fusion algorithm and the improved DWA （Dynamic Window Approach） algorithm. The improvementoftheDWAalgorithmstartsfromthe principleofthe taditionalDWAalgorithmandaddsthecurvatureevaluation function，aimingtoimprovethelocalpathplaingcapabilityofrobots.Subsequentlyresearchconductsexperimentsonthe improved DWAalgorithm.The experiments setupcomplex scenariossuch as V-shaped curves，U-shapedcurves andobstacleladen roads，and compare the improved algorithm framework with the traditional algorithm framework combining A* and DWA algorithms toconductin-depthanalysisof thecharacteristicsofnavigationpaths.Experimentalresultsshowthatthe improved algorithm framework enhances path smoothness，navigationstabilityandobstacleavoidancecapabilityofrobots.

Keywords： DWA algorithm; path planning; A* algorithm; Dijkstra algorithm; ROS; mobile robot

0 引言

在机器人技术领域中，路径规划技术[无疑是自主移动能力的基石。（剩余7908字）