World Electric Vehicle Journal (Aug 2023)

Electric Logistics Vehicle Path Planning Based on the Fusion of the Improved A-Star Algorithm and Dynamic Window Approach

  • Mengxue Yu,
  • Qiang Luo,
  • Haibao Wang,
  • Yushu Lai

DOI
https://doi.org/10.3390/wevj14080213
Journal volume & issue
Vol. 14, no. 8
p. 213

Abstract

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The study of path-planning algorithms is crucial for an electric logistics vehicle to reach its target point quickly and safely. In light of this, this work suggests a novel path-planning technique based on the improved A-star (A*) fusion dynamic window approach (DWA). First, compared to the A* algorithm, the upgraded A* algorithm not only avoids the obstruction border but also removes unnecessary nodes and minimizes turning angles. Then, the DWA algorithm is fused with the enhanced A* algorithm to achieve dynamic obstacle avoidance. In addition to RVIZ of ROS, MATLAB simulates and verifies the upgraded A* algorithm and the A* fused DWA. The MATLAB simulation results demonstrate that the approach based on the enhanced A* algorithm combined with DWA not only shortens the path by 4.56% when compared to the A* algorithm but also smooths the path and has dynamic obstacle-avoidance capabilities. The path length is cut by 8.99% and the search time is cut by 16.26% when compared to the DWA. The findings demonstrate that the enhanced method in this study successfully addresses the issues that the A* algorithm’s path is not smooth, dynamic obstacle avoidance cannot be performed, and DWA cannot be both globally optimal.

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