Research on Path Planning by Fusing DWA and A* Algorithm

Dynamic Window Approach (DWA) is a local path planning algorithm that effectively handles dynamic obstacles. As a local path planning algorithm, it only considers possibilities within the current surrounding dynamic window and does not guarantee finding a globally optimal solution. In complex environments, the DWA algorithm may get trapped in local optima and fail to find better paths. To address the challenge of DWA's difficulty in planning a globally optimal path, this paper proposes an optimized algorithm that combines DWA with the A* algorithm. By integrating the global planning capability of A* with the local planning of DWA, it eventually obtains an optimal path. Comparative analysis with other algorithms demonstrates that this approach can effectively reduce path length and improve path planning efficiency.