wheeled-robot-path-planning-algorithm's Introduction

Robot

实现Astar算法和DWA算法的结合

main.py: 文件可以通过Astar算法实现两点间的路径规划
dwa.py: 文件在main.py文件的基础上增加了dwa动态窗口算法，可以实现小车在运行过程中动态避障功能
Vplanner.py: dwa算法实现
AStarPlanner.py: astar算法实现

关键控制指令：

按下鼠标左键放置起始点
按下鼠标右键放置终点
按下鼠标中键放置障碍物
按下空格键开始规划路径

Astar算法实现的示意图

dwa算法实现的示意图

dwa算法带雷达显示

由于dwa算法的缺陷，容易陷入局部最优解，改进的方法是在上述情况下重新规划路径，实现动态dwa

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