融合改进A*和DWA算法的无人车路径规划研究

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主题词：无人车路径规划 改进A*算法动态窗口算法融合算法中图分类号：TP18；U463.6 文献标志码：A DOI：10.19620/j.cnki.1000-3703.20250502

Research on Unmanned Vehicle Path Planning Based on Improved A* and DWA Algorithms

Liu Yongtao Chao Xingyu Zhu Yichen Na Linqi Zhang Wei（Chang'an University，Xi'an 710064）

【Abstract】Aiming at the problemthatitisdificult tobalancetheglobaloptimumandreal-timeobstacle avoidance by using A∗ or Dynamic Window Approach （DWA） algorithms alone in unmanned vehicle path planning，an unmanned vehicle path planning method integrating the improved A and DWA algorithms is proposed.Firstly，in the improved A algorithm，the heuristicfunctionisoptimisedbycombiningtheEuclideandistanceand Manhatandistance，sothatthepredictedpathcostis closertotherealathostecondlythe24-eighbourhdsearchtrategyisintroduced，andccordingtoterelatiesition of thecurentnodeandthetargetnode，thesearchdirectionisreducedfrom16to10，which ensuresthesearcheficiencyand avoidsthepathmorphologydefectsatthesametime.Then，dynamictrajectory-gudedevaluationfunctionanddynamicweightoptimisedspeed functionareintroducedintotheevaluationfunctionofDWAalgorithmtosolvetheproblemsofpathdeviation andlocaloptimum，andtoimprovetheadaptiveabilityof raditionalDWAtothedistributionofobstacles.inally，theiproved A isfused withtheDWAalgorithm tocomplete theunmannedvehicle’spath planning.Simulationresultsshowthatcompared with the traditional A* algorithm，the improved A* algorithm shortens the path length by an average of 2.73%，reduces the number of traversed nodes byan average of 32.61%，and reduces the number of path turns by an average of 21.05% .The fusion algorithmisable tomakecorrections tolocal pathsaccording totheinformationof themapenvironmentonthebasisof the optimal pathsin thewhole world，soas to complete real-time obstacle avoidance.

Key words：Unmanned vehicles，Path planning，Improved A* algorithm，Dynamic Window Approach（DWA）algorithm，Fusionalgorithm

【引用格式】刘永涛，晁兴雨，朱屹晨，等.融合改进A*和DWA算法的无人车路径规划研究[J].汽车技术，2025（12）：19-28. LIUYT，CHAOXY，ZHUYC，etal.Research on Unmanned Vehicle Path Planning Based on Improved A* and DWA Algorithms[J]. Automobile Technology，2025（12）：19-28.

1前言

随着智能交通系统的快速发展，作为未来智能交通的重要组成部分，无人驾驶车辆（简称无人车）的路径规划已成为自动驾驶技术及人工智能领域亟待突破的方向之一l。（剩余13352字）