Path Planning Research of Intelligent Carts Based on Dynamic Environment

This thesis is a study of path planning with an indoor intelligent cart as the research object. In the path planning part of the intelligent cart, the global path planning algorithm, the A* algorithm and the Dijkstra algorithm are analyzed and compared theoretically, and it is concluded through experiments that the A* algorithm has faster search efficiency than the Dijkstra algorithm. In local path planning, MATLAB simulation experiments are conducted on the parameters of the evaluation function in DWA to arrive at a relatively ideal set of weight parameters. For the practical application of the navigation algorithm, the problem of difficulty in obstacle avoidance of the cart in narrow areas, the Bug2 algorithm is proposed to improve the DWA algorithm.