【摘要】 机器人路径规划必须满足路径最优、轨迹平滑、避障等要求。提出将A~*算法与动态窗口法（DWA）进行融合，得到一种改进型规划算法。首先，根据A*算法得到全局最优路径点，去除冗余无用节点。然后，结合基于改进的动态窗口法，构建融合全局信息的评价函数对局部路径进行优化。实验结果表明，融合算法很好地解决了传统动态窗口法陷入局部最优问题，得到一条平滑曲线，提高路径的安全性。更多还原

【Abstract】 The robot path must be the optimal path,smooth curve,and safe. A new improved programming algorithm is proposed by combining A~* algorithm with dynamic window approach(DWA). Firstly,the global optimal path points are obtained without redundant useless nodes according to A~* algorithm. Then,combined with the improved dynamic window method,the evaluation function integrating global information is constructed to optimize the local path. According to the simulation results,the fusion algorithm can solve the problem of local optimal to traditional dynamic windows approach,get a smoothing curve and greatly improve the security of the path.更多还原