【摘要】 针对传统机器人路径规划只适用于障碍位置固定的环境中，无法避开动态障碍物的问题，提出一种融合动态障碍物信息的机器人避障路径规划方法。对传统动态窗口法（Dynamic Window Approach,DWA）进行改进，融合动态障碍物信息与机器人运动学分析，来解决机器人在动态环境下的避障问题，并与改进的A*算法融合，来保障机器人路径规划的全局最优性。实验结果证明，所提出的方法在动态环境下适应度高、安全性强，具有一定的应用价值。更多还原

【Abstract】 Aiming at the problem that traditional robot path planning is only suitable for planning paths in an environment with fixed obstacle positions, and cannot avoid dynamic obstacles, this paper propose a robot obstacle avoidance path planning method integrating dynamic obstacle information. Improved Dynamic Window Approach(DWA), fusion of dynamic obstacle information and robot kinematics analysis to solve the problem of robot avoiding obstacles in a dynamic environment, and fusion with improved A* algorithm to ensure the global optimization of robot path planning.The experimental results prove that the proposed method has high adaptability and strong security in a dynamic environment, and has certain application value.更多还原